Summary

Planning algorithms for doing human in the loop manipulation. Contains an implementation of HPN (Hierarchical Planning in the Now) planner by Leslie Pack Kaelbling and Tomás Lozano-Pérez has been implemented. Also has implements a goal regression planner for doing flat task planning.

How to Get the Code

To get the code directly from version control, add the following to your .rosinstall:

- svn: {local-name: electric_sandbox, uri: 'https://code.ros.org/svn/wg-ros-pkg/branches/trunk_electric/electric_sandbox'}

How to Run the Example

roscd hierarchical_interactive_planning

python examples/set_table/set_table.py plan_tree.dot

dot plan_tree.dot -Tpng -o plan_tree.png

display plan_tree.png