Solves task and motion planning problems by using an interface which translates task plans to motion planning problems

python2.7, gurobipy, numpy, eddie-col branch of trajopt

Install the eddie-col branch of trajopt http://rll.berkeley.edu/trajopt/doc/sphinx_build/html/install.html

Clone PlanOpt

$ git clone https://github.com/c-l/planopt.git

To set up the task planner follow the instructions in the readme in the planners/myFDFiles folder.

Generate World

$ cd src
$ python ../envs/world.py

Run Planner

$ python hybridPlanner.py -v -d tc -e ../envs/twocan_world.dae