Object-Centric TAMP in Dynamic Environments

This code implements the algorithm in the 2020 IEEE RA-L paper Object-Centric Task and Motion Planning in Dynamic Environments.

Citation

@article{migimatsu2019objectcentric,
    title={Object-Centric Task and Motion Planning in Dynamic Environments},
    author={Toki Migimatsu and Jeannette Bohg},
    journal={IEEE Robotics and Automation Letters},
    year={2020},
    volume={5},
    number={2},
    pages={844-851},
    doi={10.1109/LRA.2020.2965875},
}

Installation

Ipopt

logic-opt uses the Ipopt solver with MA-57. Because it is a proprietary solver, it needs to be downloaded separately.

Obtain an academic license for the full HSL library: http://www.hsl.rl.ac.uk/ipopt/

Once the download link is emailed to you, save the coinhsl.tgz file into the logic-opt repository.

Before compiling Ipopt, make sure the necessary packages are installed.

sudo apt install pkg-config gfortran automake liblapack-dev libmetis-dev

With coinhsl.tgz in the logic-opt repository, run the install script.

./install_ipopt.sh

logic-opt

Before compiling logic-opt, make sure the following packages are installed.

sudo apt install python3-dev curl redis-server

Next, download the Rust compiler.

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

The following line should be added to your .bashrc.

source $HOME/.cargo/env

Finally, build logic-opt with cmake.

mkdir build  # from the logic-opt folder
cd build
cmake ..     # first time may take around 5 min
make

redis-gl

The visualizer uses redis-gl, a browser-based interface.

git clone https://github.com/tmigimatsu/redis-gl.git

Follow the installation instructions in redis-gl's README.md.

Execution

Redis server

The planner, visualizer, and robot controller communicate via Redis. First, make sure the server is running.

redis-server

Visualizer

Next, run the visualizer server from the redis-gl repo.

pipenv run ./server.py

Open the visualizer in the browser at http://localhost:8000.

Robot controller

Next, run the robot controller in the logic-opt/bin folder. This program can remain running in the background.

./franka_panda_opspace

In the visualizer, you should now be able to perturb the robot by ctrl-clicking or shift-clicking a link on the robot.

TAMP solver

Finally, we can run the TAMP solver with the Workspace Reach demo.

./lgp ../resources/reach_config.yaml

This will play all the candidate plans in the visualizer in order of optimization completion time.

The Towers of Hanoi demo can be run with a different config file.

./lgp ../resources/hanoi_config.yaml

Disclaimer

Recent versions of the collision checker, ncollide, seem to cause instability issues with the nonlinear optimizer. We are currently working to improve the optimization stability.