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There are two implementations of the SBPL environments for arm planning.

1) There is the original sbpl_arm_planner package that does not yet support Groovy so it can't be used yet with the benchmarking software. It's being upgraded and a robot-agnostic version will be made available by the end of June.

2) The sbpl_planners package that was written by a developer that is no longer at WG (Gil Jones). I'm not sure whether it's still being maintained or not. I don't know the status of this one.