https://github.com/yijiangh/pybullet_planning

A suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.
https://github.com/yijiangh/pybullet_planning

planning-tool pybullet robotics-simulation

Last synced: about 2 months ago
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A suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.

• Host: GitHub
• URL: https://github.com/yijiangh/pybullet_planning
• Owner: yijiangh
• License: mit
• Created: 2019-10-04T19:09:21.000Z (over 5 years ago)
• Default Branch: dev
• Last Pushed: 2023-07-06T09:23:42.000Z (over 1 year ago)
• Last Synced: 2024-11-09T04:39:59.359Z (2 months ago)
• Topics: planning-tool, pybullet, robotics-simulation
• Language: Python
• Homepage:
• Size: 7.89 MB
• Stars: 127
• Watchers: 9
• Forks: 15
• Open Issues: 12
• Metadata Files:
  • Readme: README.rst
  • Changelog: CHANGELOG.rst
  • Contributing: CONTRIBUTING.rst
  • License: LICENSE

Awesome Lists containing this project

• awesome-simulation - pybullet_planning - A suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine. ([PyBullet](https://github.com/bulletphysics/bullet3))

README

        
=================

pybullet_planning

=================

.. start-badges

.. image:: https://readthedocs.org/projects/pybullet-planning/badge/?version=latest

    :target: https://pybullet-planning.readthedocs.io/en/latest/?badge=latest

    :alt: Documentation Status

.. image:: https://github.com/yijiangh/pybullet_planning/workflows/integration/badge.svg

    :target: https://github.com/yijiangh/pybullet_planning/actions

    :alt: Github Actions Integration Status

.. image:: https://coveralls.io/repos/github/yijiangh/pybullet_planning/badge.svg?branch=dev

    :target: https://coveralls.io/github/yijiangh/pybullet_planning?branch=dev

    :alt: Coveralls

.. image:: https://img.shields.io/badge/License-MIT-blue.svg

    :target: https://github.com/yijiangh/pybullet_planning/blob/dev/LICENSE

    :alt: License MIT

.. image:: https://img.shields.io/badge/pybullet->=3.1.7-ff69b4

    :target: https://github.com/bulletphysics/bullet3

    :alt: pybullet version

.. end-badges

.. Write project description

**pybullet_planning** is a suite of utility functions to facilitate robotic planning related research on

the `pybullet `_ physics simulation engine.

Planning research made easy.

Main features

-------------

* easy-to-use functions to connect with pybullet, tailored for task and motion planning research

* built-in implementations of standard motion planners, including PRM, RRT, biRRT, A* etc.

Getting Started

---------------

**pybullet_planning** can be installed using ``pip``:

::

    pip install pybullet_planning

.. note::

    On Windows, you may need to install `Microsoft Visual C++ 14.0 `_, if pybullet installation fails.

Once the installation is completed, you can verify your setup.

Start Python from the command prompt and run the following:

::

    >>> import pybullet_planning as pp

First Steps

---------------

* `Documentation `_

Examples can be found at the `unit tests `_.

You will be need to install ``pytest`` to run these tests (``pip install pytest``).

Then, individual tests can be run by using their `pytest markers `_ by:

::

    pytest -s -m collision_fn --viewer

    pytest -s -m motion_planning_2D --viewer

Additional pytest-free examples can be found at `pybullet_planning_tutorials `_.

Contributing

------------

Check the `Contributor's Guide <./CONTRIBUTING.rst>`_ for more details.

PyBullet Resources

-------------------

* Github - https://github.com/bulletphysics/bullet3

* Quickstart - https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/

* Forum - https://pybullet.org/Bullet/phpBB3/

* Wordpress - https://pybullet.org/wordpress/

* Examples - https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/examples

* Bindings - https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/pybullet.c

* Predecessors - `pybullet-planning`_, `motion-planners`_.

Credits

-------------

    Caelan Reed Garrett. PyBullet Planning. https://pypi.org/project/pybullet-planning/. 2020.

This package was initiated and maintained by Caelan Garrett `@caelan `_

and other `contributors `_.

History

-------------

This repo is a stable and documented fork of Caelan's `pybullet-planning`_

(previously called `ss-pybullet`) and `motion-planners`_.

New features will continue to be introduced first through these separate repos, and integrated into the current package later.

.. _pybullet-planning: https://github.com/caelan/pybullet-planning

.. _motion-planners: https://github.com/caelan/motion-planners