pybullet-planning 0.5.1

a suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.

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.

Once the installation is completed, you can verify your setup. Start Python from the command prompt and run the following:

>>> import pybullet_planning

First Steps

• Documentation

Contributing

We love contributions!

Check the Contributor’s Guide for more details.

Releasing this project

Ready to release a new version of pybullet_planning? Here’s how to do it:

• We use semver, i.e. we bump versions as follows:
  • patch: bugfixes.
  • minor: backwards-compatible features added.
  • major: backwards-incompatible changes.
• Update the CHANGELOG.rst with all novelty!
• Ready? Release everything in one command:

invoke release [patch|minor|major]
# with -b to bump version

• Celebrate! 💃

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

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.

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

0.5.1

Added - Added current_conf to as the single-node ladder in the ladder graph Cartesian planning plan_cartesian_motion_lg

Changed - Changed Attachment.from_data to construct parent and child bodies from body name data - Changed EdgeBuilder from using upper_tm and joint_vel_limits to directly using jump_threshold

0.5.0

Changed

• Changed doc theme to sphinx-rtd-theme, doc hosted on readthedocs
• Changed motion_planners to keep updated with https://github.com/caelan/motion-planners

Added

• Added SE3 floating body motion planning
• Added ladder graph cartesian planner

Removed

• Removed requirments.txt, moved dependencies into setup.py

0.1.1

Fixed

• Fixed Windows OS “Display not in os.environ” issue in connect

0.1.0

Added

• diagnosis collision checking function to help visualizing the collision bodies’ information
• add workspace_bodies to the get_collision_fn to check collisions with the obstacles specified in a URDF file.
• move ik_interface module from application side to this repo, since it’s “universal” for fixed-end robot. Might need to add a separete one for robots with moving base later.
• enable travis ci unit test, collision_fn well tested
• get_floating_body_collision_fn to check a body without joints’s collision. Associated test added.
• Added snap_sols to kinematics.ik_utils

Changed

• add extra_disabled_collisions parameter to get_collision_fn, plan_joint_motion
• Changed get_name to return name without index if name is not ‘’

Removed

• get_collision_diagnosis_fn removed, integrated into the get_collision_fn

Fixed

• utils.numeric_sample.randomize: random.shuffle cannot operate on a range in py 3.x. Enforced conversion to list to fix it.
• Fixed get_collision_fn to ignore checking between bodies both specified in attachment and obstacles (prioritize its role as attachment)

Deprecated

TODO

• add body name for bodies from create_obj

Requested features

• clone_body work for bodies from create_obj

0.0.1

Added

• Initial version
• Divide the original utils.py file into separate modules
• Modules cycle dependency resolved.