AutonoBot-Lab / BestMan_Pybullet

Codebase for the 'BestMan' Mobile Manipulator

BestMan - A Pybullet-based Mobile Manipulator Simulator

Welcome to the official repository for the BestMan Robot Simulator, integrated with Pybullet. This project provides a comprehensive simulation environment for the BestMan robot, a sophisticated machine featuring a robust base and a versatile arm (Ur5e).

💻 Installation

git clone https://github.com/yding25/BestMan_Pybullet.git
git submodule init
git submodule update

Install OMPL package

pip3 install pygccxml==2.2.1.
cd BestMan_Pybullet/package_OMPL
pip3 install ompl-1.6.0-cp38-cp38-manylinux_2_28_x86_64.whl

🔎 Project Structure

├── APIs_in_utils.txt
├── examples
│   ├── navigation_basic.py
│   ├── ...
├── Kitchen_models
├── tool
│   ├── capture_screen_front.py
│   ├── ...
├── URDF_models
├── URDF_robot
│   ├── segbot.urdf
│   ├── ur5e.urdf
│   └── ...
└── utils
    ├── pb_ompl.py
    ├── utils_Bestman.py
    ├── ....

👨‍💻 Basic Demos

Load Kitchens

python3 ./examples/load_kitchen_v0.py

Navigation

python3 ./examples/navigation_basic.py

Manipulation

python3 ./examples/grasp_bowl_in_kitchen_v0.py

python3 ./examples/grasp_bowl_from_drawer_in_kitchen0.py

📘 Additional Resources

• APIs_in_utils.txt: A detailed list of common functions used in the utility scripts

🚀 Citation and Reference

@article{ding2023task,
  title={Task and motion planning with large language models for object rearrangement},
  author={Ding, Yan and Zhang, Xiaohan and Paxton, Chris and Zhang, Shiqi},
  journal={arXiv preprint arXiv:2303.06247},
  year={2023}
}
@article{ding2023integrating,
  title={Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds},
  author={Ding, Yan and Zhang, Xiaohan and Amiri, Saeid and Cao, Nieqing and Yang, Hao and Kaminski, Andy and Esselink, Chad and Zhang, Shiqi},
  journal={arXiv preprint arXiv:2305.17590},
  year={2023}
}