Implementation of "Efficient planning in non-Gaussian belief spaces and its application to robot grasping".
Make a virtualenv with Python 3.8 or newer. Then run
pip install -r requirements.txt
This version, as of December 2022, runs on the nightly build of Drake, so you'll have to install that separately here.
Run
python main.py
and follow the instructions in the command line to visualize the planned trajectory in MeshCat.