Welcome to the official repository for the BestMan Robot Simulator, integrated with Pybullet. This project provides a comprehensive simulation environment for the BestMan robot, a sophisticated machine featuring a robust base and a versatile arm (Ur5e).
git clone https://github.com/yding25/BestMan_Pybullet.git
git submodule init
git submodule update
pip3 install pygccxml==2.2.1.
cd BestMan_Pybullet/package_OMPL
pip3 install ompl-1.6.0-cp38-cp38-manylinux_2_28_x86_64.whl
โโโ APIs_in_utils.txt
โโโ examples
โ โโโ navigation_basic.py
โ โโโ ...
โโโ Kitchen_models
โโโ tool
โ โโโ capture_screen_front.py
โ โโโ ...
โโโ URDF_models
โโโ URDF_robot
โ โโโ segbot.urdf
โ โโโ ur5e.urdf
โ โโโ ...
โโโ utils
โโโ pb_ompl.py
โโโ utils_Bestman.py
โโโ ....
Load Kitchens
python3 ./examples/load_kitchen_v0.py
Navigation
python3 ./examples/navigation_basic.py
Manipulation
python3 ./examples/grasp_bowl_in_kitchen_v0.py
python3 ./examples/grasp_bowl_from_drawer_in_kitchen0.py
- APIs_in_utils.txt: A detailed list of common functions used in the utility scripts
@article{ding2023task,
title={Task and motion planning with large language models for object rearrangement},
author={Ding, Yan and Zhang, Xiaohan and Paxton, Chris and Zhang, Shiqi},
journal={arXiv preprint arXiv:2303.06247},
year={2023}
}
@article{ding2023integrating,
title={Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds},
author={Ding, Yan and Zhang, Xiaohan and Amiri, Saeid and Cao, Nieqing and Yang, Hao and Kaminski, Andy and Esselink, Chad and Zhang, Shiqi},
journal={arXiv preprint arXiv:2305.17590},
year={2023}
}
@article{gao2023orla,
title={ORLA*: Mobile Manipulator-Based Object Rearrangement with Lazy A},
author={Gao, Kai and Ding, Yan and Zhang, Shiqi and Yu, Jingjin},
journal={arXiv preprint arXiv:2309.13707},
year={2023}
}