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A Physics-Based Simulated Robotics Testbed for Planning and Acting Research

Oscar Lima; Martin Günther; Alexander Sung; Sebastian Stock; Marc Vinci; Amos Smith; Jan Christoph Krause; Joachim Hertzberg
In: Proceedings of the PlanRob Workshop of the 28th International Conference on Automated Planning and Scheduling. Workshop on Planning and Robotics (PlanRob-2023), PlanRob Workshop of the 33rd International Conference on Automated Planning and Scheduling, located at ICAPS 2023, July 8-13, Prague, Czech Republic, n.n. 7/2023.


In this paper we introduce the mobipick labs environment, which represents an effort to bring the robotics and planning and acting research communities closer together by releasing a physics-based single robot simulator that closely resembles a real-life setup. This tool is designed for non-robotics experts, providing a user-friendly high-level Python API for easily interacting with a complex robotic system. The framework additionally includes a basic semantic and numeric environment representation that provides real-time knowledge in the form of "facts" that can be used to react to the execution status.


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