pytamp 0.4

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 kinematic world, so not consider dynamics in this repo
• Support simple motion planning (RRT*, Cartesian planning)
• Render Robot mesh using matplotlib or trimesh.Scene
• Support 4 benchmarks for tamp
• 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 RRT-star motion planning.
  You can see various examples in examples/scene directory.

  • Render using trimesh.Scene

    baxter	sawyer	iiwa14

    Panda	Doosan	UR5e

• Planning

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

  Cartesian (X1)	RRT-star (X1)

• Benchmark

  You can use the 4 benchmarks.

  Benchmark1	Benchmark2	Benchmark3	Benchmark4