I wanted to create and then solve a PDDL plan and then carry it out with the Stretch Robot. I was wondering if there is any preexisting functionality for basic pick-and-place tasks?
Hey @JonathanDistler25, we don’t have any tutorials that demonstrate carrying out a PDDL plan on Stretch. I’d suggest piecing together a few tutorials to achieve your goal. I’ve found this PDDL tutorial pretty good: Getting Started with PDDL | LearnPDDL
On the Stretch side, I’d recommend writing a ROS2 node who’s job it is to parse the solution and call the services/topics you need. To get a sense of what primitive behaviors exist, I’d recommend checking out our Nav2 tutorial: Demo 1 - Mapping & Navigation - Stretch Docs or our Stretch AI tutorial: GitHub - hello-robot/stretch_ai
Let me know if you have any questions.
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The hardware requirements for the Stretch AI tutorial suggested RE3, but does it still work for the RE1 model?
Some of the Stretch AI “apps” require the eye-in-hand camera, which isn’t present on the older RE1 model. But navigation and perception apps based on the pan/tilt head should work just fine.