The main goal of this repository is to integrate PDDLStream, a task and motion planning (TAMP) framework to be used for development with Gazebo and MoveIt.

Main development environment: https://github.com/cambel/ur3

1. Non-Prehensile Augmented TAMP: https://github.com/Gaoyuan-Liu/Non-prehensile-Augmented-TAMP
2. ROS-based UR3 controller with simulation in Gazebo: https://github.com/cambel/ur3
3. PDDLStream: https://github.com/caelan/pddlstream
4. Kitchen Worlds: https://github.com/Learning-and-Intelligent-Systems/kitchen-worlds/tree/main
5. Hybrid TMP + DBT framework for surgery tasks: https://github.com/husikl/asar_hybrid_tmp

1. MoveIt tutorials (Noetic): https://ros-planning.github.io/moveit_tutorials/