pybullet_planning

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

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 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.