Online observation, estimatation, planning, and control for a Franka Panda Robot operating in NVIDIA SRL's simulated kitchen environment.
SS-Replan supports both Python 2 and Python 3.
- Install Git LFS
$ pip install numpy scipy pybullet sklearn
$ git lfs clone --branch master --recurse-submodules https://github.com/caelan/SS-Replan.git
$ cd SS-Replan
SS-Replan$ git lfs install
SS-Replan$ ./pddlstream/FastDownward/build.py release64
SS-Replan$ cd ss-pybullet/pybullet_tools/ikfast/franka_panda
SS-Replan/ss-pybullet/pybullet_tools/ikfast/franka_panda$ ./setup.py
It's also possible to use TRAC-IK instead of IKFast; however it requires installing ROS ($ sudo apt install ros-kinetic-trac-ik
).
SS-Replan$ git pull
SS-Replan$ git submodule update --init --recursive
SS-Replan$ ./run_pybullet.py [-h]
Executed using the IssacSim 3D robot simulation environment.
- This repository uses PDDLStream to perform hybrid robotic planning.
- PDDLStream leverages FastDownward, a classical planner, as a discrete search subroutine.
- Common robotics primitives are implemented using PyBullet.
- Online Replanning in Belief Space for Partially Observable Task and Motion Problems
- PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning
Caelan R. Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie P. Kaelbling, Dieter Fox. Online Replanning in Belief Space for Partially Observable Task and Motion Problems, IEEE International Conference on Robotics and Automation (ICRA), 2020.