zyjiao4728 / POG-Demo

Demo for planning sequential tasks on contact graph

POG-Demo

Sequential Manipulation Planning on Scene Graph

1. Installation

Clone the repository

git clone --recursive <git-package-url>

where <git-package-url> the git repo URL of our package.

Install the sdf submodule

cd POG-Demo/sdf
pip install -e .

Install the pog module

cd ..
pip install -e .

2. Run Examples

We provid two examples which correspond to exp 1 and 2 on paper.

python pog_example/iros_2022_exp/exp1/main.py 10 -viewer
python pog_example/iros_2022_exp/exp2/main.py -viewer

3. Website

Please checkout the project website for more details and video demos