Planning in PyBullet using Via-Point Stochastic Optimization(VP-STO)
Code for Via-Point Stochastic Optimization(VP-STO) planner for UR5e manipulator. Simulated in PyBullet using pybullet_planning library.
Instructions to Run
- install
pybullet_planning. Run the following:
pip install git+https://github.com/yijiangh/pybullet_planning@dev#egg=pybullet_planning
This will install both pybullet and pybullet_planning.
We also use termcolor to do colorful terminal printing, install it by:
pip install termcolor
-
install VP-STO dependencies from https://github.com/JuJankowski/vp-sto
-
install VP-STO. Run the following:
cd vp-sto
pip install .
cd examples- Run the vpsto code:
python ur5_vpsto.py