IROS 2020 submission on Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning
This repository is a the RA-L/IROS submission
M. Toussaint, JS. Ha, D. Driess: Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning
Please see also the arxiv paper 2002.12780 and the supplementary video.
The repository checks out rai (as submodule) and allows you to reproduce the experiments.
The 19-ICRA-submission branch contains the literal verion used to generate the experiments in the paper (and sometimes raises a "timeout to end Thread::main of 'GlfwSpinnerSpi'" when going through all examples). The master branch instead uses a newer version of the rai submodule.
On Ubuntu 18.04:
git clone https://github.com/MarcToussaint/20-IROS-ForceBased.git
cd 20-IROS-ForceBased
git submodule init
git submodule update
make -j1 installUbuntuAll # calls sudo apt-get install; you can always interrupt
make -j $(command nproc) # builds libs
cd demo; make; ./x.exe # run the demo
If you need to run in a docker, please have a look at the docker setup I use to test rai. A slight modification of the Dockerfile and run scripts should allow you to setup the appropriate environment also for this repo, including X.