This repository contains code for the winning submission of Phase 3 of the 2020 Real Robot Challenge.

A report detailing our approach can be found here.

This submission is the joint work of Charles Schaff, Takuma Yoneda, Takahiro Maeda, and Matthew R Walter.

This repository is structured as a catkin package and builds on the example package provided by the competition, and this planning library.

To run the code locally, first install Singularity and download this singularity image from the competition. No custom dependencies are required.

Use the run_locally.sh script to build the catkin workspace and run commands inside the singularity image. For example, to run our controller on a random goal of difficulty 4, use the following command:

./run_locally.sh /path/to/singularity/image.sif rosrun rrc run_local_episode.py 4

For detailed instructions on how to run this code on the robot cluster, see this page.

This repository contains code for automatically submitting jobs and analyzing logs in the log_manager directory. Note that running jobs on the robot cluster requires an account from the competition organizers.

• Videos (phases 1 - 3)
• Report