pybullet-planning 0.1.0

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.

Main features

• feature

pybullet_planning runs on Python 2.5+ and 3.x.

Documentation

Requirements

Installation

Contributing

Make sure you setup your local development environment correctly:

• Clone the pybullet_planning repository.

• Install development dependencies:

pip install -r requirements-dev.txt

You’re ready to start working!

During development, use tasks on the command line to ease recurring operations:

• invoke clean: Clean all generated artifacts.

• invoke check: Run various code and documentation style checks.

• invoke docs: Generate documentation.

• invoke test: Run all tests and checks in one swift command.

• invoke: Show available tasks.

For more details, check the Contributor’s Guide.

Releasing this project

Credits

This package was initiated by Caelan Garrett <[e-mail]> @caelan, with some maintainence from Yijiang Huang <[e-mail]> @yijiangh.

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.

0.1.0

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.

Changed

• add extra_disabled_collisions parameter to get_collision_fn

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.

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.