belief-space-planning

Implementation of "Efficient planning in non-Gaussian belief spaces and its application to robot grasping".

Installation

Make a virtualenv with Python 3.8 or newer. Then run

pip install -r requirements.txt

This version, as of December 2022, runs on the nightly build of Drake, so you'll have to install that separately here.

Running

Run

python main.py

and follow the instructions in the command line to visualize the planned trajectory in MeshCat.