pytamp 0.2

Robotics Task and Motion Planning Library

pytamp

Python Interface for the robot task and motion planning(TAMP) library

We will commit the code soon.

Features

• Pure python library
• Support only URDF file
• Support only kinematic world, so not consider dynamics in this repo
• Compute robot's kinematics (Ex. forward kinematics, inverse kinematics, Jacobian)
• Enable to check collision about robot self-collision and collision between robot and objects
• Support simple motion planning (RRT*, Cartesian planning)
• Render Robot mesh using matplotlib or trimesh.Scene
• Support Robot TAMP with MCTS [Ours]

Installation

Requirements

You need pygraphviz and python3-tk package to see a MCTS tree.

• On Ubuntu 18.04 or 20.04, Download graphviz and graphviz-dev and python3-tk using apt

  sudo apt install graphviz graphviz-dev python3-tk

• On Mac, Download graphviz using brew

  brew install graphviz

Install pytamp

pip install pytamp

SceneManager

• Scene

  You can manage entire scene using SceneManager class. We recommend using the SceneManager.
  For example, You can manage robot, object, gripper pose or collision as well as visualize their geom.
  In addition, You can compute cartesian or motion planning.
  You can see various examples in example/scene directory.

  • Render using trimesh.Scene

    baxter	sawyer	iiwa14

  • Render using matplotlib

    baxter	sawyer	iiwa14

• Attach object to robot

  You can manage by attaching or detaching objects to the gripper.
  These method will be used for motion planning. You can see a example in example/scene/gripper directory.

  $ cd example/scene/gripper
  $ python scene_attach_detach_test.py
  

  You can see the attaching process as shown in the figure below.
  If the object is attached, a color of the object will change black. And then, the object becomes a part of the robot.

  Move a robot	Attach an object to robot	Move a robot	Detach an object

• Planning

  You can see an animation of planning that visualizes trajectory in example/planning directory.

  Cartesian (X1)	RRT-star (X1)

• Pick and Place

  You can see an animation of pick and place that visualizes trajectory in example/action directory.

  Scene arranged objects (X4)	Scene stacked objects (X4)