In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimization-based techniques with a guided forward search to address complex, constrained sequential manipulation challenges, such as pick-and-place puzzles. SeGMan incorporates an adaptive subgoal selection method that adjusts the granularity of subgoals, enhancing overall efficiency. Furthermore, proposed generalizable heuristics guide the forward search in a more targeted manner. Extensive evaluations in maze-like tasks populated with numerous objects and obstacles demonstrate that SeGMan is capable of generating not only consistent and computationally efficient manipulation plans but also outperform state-of-the-art approaches. https://sites.google.com/view/segman-lira/
Ensure you are using Ubuntu 20.04 with Python 3.8.10 or later.
-
Update and install dependencies Open a terminal and run:
sudo apt update && sudo apt install -y python3 python3-pip python3-venv -
Verify Python version Ensure you are using Python 3.8.10 or later:
python3 --version
If you need to install Python 3.8.10, you can do so with:
sudo apt install -y python3.8
-
Create a virtual environment (Optional but recommended)
python3 -m venv segman source segman/bin/activate -
Install dependencies
pip install -r requirements.txt
To run the test files located in the test folder, first navigate to the folder:
cd testThen, execute any test file using:
python filename.py
