caelan / ss-drake

STRIPStream + Drake

ss-drake

STRIPStream + drake for python2.7

 

Installation

Drake

Download the most recent drake precompiled binaries (http://drake.mit.edu/from_binary.html).

OS X

brew tap robotlocomotion/director
brew update
brew upgrade
wget https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz
tar -xvf drake-latest-mac.tar.gz
export PYTHONPATH=${PWD}/drake/lib/python2.7/site-packages:${PYTHONPATH}

Add export PYTHONPATH=... to your ~/.bash_profile for frequent use.

Ubuntu

wget https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz
tar -xvf drake-latest-xenial.tar.gz
export PYTHONPATH=${PWD}/drake/lib/python2.7/site-packages:${PYTHONPATH}

Add export PYTHONPATH=... to your ~/.bashrc for frequent use.

STRIPStream

Clone the following repositories and add them to your PYTHONPATH:

1. https://github.com/caelan/motion-planners
2. https://github.com/caelan/pddlstream

Tests

1. Test pydrake - python -c 'import pydrake'
2. Test motion-planners - python -c 'import motion_planners'
3. Test STRIPStream - python -c 'import ss'

Examples

Run drake/bin/drake-visualizer (in its own terminal) to display simulations.

Examples without STRIPStream:

1. Random table placements - python test_placements.py
2. PR2 base motion planning - python test_motion.py
3. Kuka pick & place - python test_pick.py
4. PR2 pick & place - python test_kuka_iiwa.py

Examples using STRIPStream:

1. Kuka cooking - python test_ss_iiwa.py

Drake Resources

Homepage - http://drake.mit.edu/index.html

Github - https://github.com/RobotLocomotion/drake