a suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.
Project description
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 <caelan@csail.mit.edu> @caelan, with some maintainence from Yijiang Huang <yijiangh@mit.edu> @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.
0.1.1
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.
Project details
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