caelan / pb-construction

PyBullet Construction Planning

pb-construction

Pybullet Construction Planning

Installation

$ git clone https://github.com/caelan/pb-construction.git
$ cd pb-construction
$ git submodule update --init --recursive
$ ./pddlstream/FastDownward/build.py

To build ikfast modules:

$ cd conrob_pybullet/utils/ikfast/kuka_kr6_r900/
$ python setup.py build

For other robots, replace kuka_kr6_r900 with the following supported robots:

• eth_rfl
• abb_irb6600_track

Construction Sequencing Structural Analysis (for frame structures)

• https://github.com/yijiangh/conmech

Examples

• $ python -m extrusion.run
• $ python -m picknplace.run

Testing new IKFast modules

• $ python -m conrob_pybullet.debug_examples.test_eth_rfl_pick
• $ python -m conrob_pybullet.debug_examples.test_irb6600_track_pick

Related Repos

• https://github.com/yijiangh/pychoreo
• https://github.com/yijiangh/assembly_instances
• https://github.com/yijiangh/conmech
• https://github.com/yijiangh/conrob_pybullet