================= pybullet_planning

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pybullet_planning is a suite of utility functions to facilitate robotic planning related research on the pybullet <https://github.com/bulletphysics/bullet3>_ 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 <https://www.scivision.co/python-windows-visual-c++-14-required/>`_, 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 <https://pybullet-planning.readthedocs.io>_

Examples can be found at the unit tests <https://github.com/yijiangh/pybullet_planning/tree/dev/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 <https://docs.pytest.org/en/stable/example/markers.html>_ 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 <https://github.com/yijiangh/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 <https://github.com/caelan>_ and other contributors <https://github.com/yijiangh/pybullet_planning/blob/dev/AUTHORS.rst>_.

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