westbrick.jl

A Julia Package for warehouse rearrangement mobile manipulation tasks.

Installation

1. Open your Julia REPL by typing julia in your terminal.
2. Press ] on your keyboard to enter the package manager
3. Enter command add https://github.com/adubredu/westbrick.jl and press Enter on your keyboard to install this package.
4. Press the Backspace key on your keyboard to return to the REPL

Usage

Example usage scripts can be found in the examples folder. The example script below builds a shape given a list of placement poses.

using westbrick 

# specifying number of packages
num_objects = 8 

# setting initial poses of packages
positions = [[i,j] for (i,j) in zip(rand(3:8, num_objects),rand(-8:-3, num_objects))]

# setting placement poses of packages
place_pose = [[-2, 2, 0.],[-2, 3, 0.],[-2, 4, 0.], [-2, 5, 0.],[-2, 6, 0.], [-1, 2, 0.], [0, 2, 0.], [1, 2, 0.]]

# initializing warehouse environment
objects = init_environment(num_objects, positions)
obs_dict, ax, fig = visualize_environment!(objects)

# loading robot
bobby = load_robot()
traj, obj_traj = init_visualization()

function lay_block!(i)
    pose = [positions[i][1], positions[i][2]+0.5, -π/2.]
    move!(bobby, pose, traj, obj_traj)
    pick!(bobby, -π/2., objects[i], traj, obj_traj)
    move!(bobby, place_pose[i], traj, obj_traj)
    place!(bobby, -π/2., traj, obj_traj)
    move!(bobby, [0.1,0.1, π/2.], traj, obj_traj)
end

# running sequences of pick-move-place action primitives to 
# place packages at placement poses
for i = 1:num_objects
    lay_block!(i) 
end

# visualizing the simulation
# To save the simulation as a gif, specify a file name that ends in .gif. To save the simulation as a video, specify a file name that ends in .mp4
println("visualizing...")
visualize_trajectory!(bobby, traj, obj_traj, obs_dict, ax, fig;name="media/build_L.gif")

Here's the expected simulation results after running this script: