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Repository Overview

In addition to this main stacking repository, we rely on several other repositories to provide supporting functionality.

  • The PyBullet simulation functionality comes from the pb_robot repository.
  • Task and Motion Planning (TAMP) is enabled by the pddlstream repository.
  • Interfaces to the robot are enabled by the franka_ros_interface repository.
  • Block detection with the Intel RealSense cameras is enabled by the panda_vision repository.

TODO: Add more specifics on concepts and folder structure

Task and Motion Planning

The tamp folder has the two key pddl files. domain_stacking.pddl defines the predicates and the actions. stream_stacking.pddl defines the streams, which generate values to satify the actions. The various streams are implemented in tamp/primitives.py. Within these streams, for this pick and place example, we opt to define grasp sets via TSRs and execute path planning with a bi-directional RRT. These are not significant (truly, they were made out of convenience) and thus could be swapped with any grasp set definition and path planner.

Planning and Learning ROS Servers

The stacking_ros folder contains a ROS package with utilities to help split up active learning, task and motion planning, and execution into separate software nodes. These could be run on different terminals or even across different machines provided they are on the same network.

Refer to the stacking_ros README for more information.