/pybullet_planning

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

Primary LanguagePythonMIT LicenseMIT

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

.. start-badges

.. image:: https://readthedocs.org/projects/pybullet-planning/badge/?version=latest :target: https://pybullet-planning.readthedocs.io/en/latest/?badge=latest :alt: Documentation Status

.. image:: https://travis-ci.com/yijiangh/pybullet_planning.svg?branch=dev :target: https://travis-ci.com/yijiangh/pybullet_planning :alt: Travis CI

.. image:: https://coveralls.io/repos/github/yijiangh/pybullet_planning/badge.svg?branch=dev :target: https://coveralls.io/github/yijiangh/pybullet_planning?branch=dev :alt: Coveralls

.. image:: https://img.shields.io/badge/License-MIT-blue.svg :target: https://github.com/yijiangh/pybullet_planning/blob/dev/LICENSE :alt: License MIT

.. end-badges

.. Write project description

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/>`_.

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 <https://pybullet-planning.readthedocs.io>_

Contributing

We love contributions!

Check the Contributor's Guide <./CONTRIBUTING.rst>_ for more details.

Releasing this project

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

  • We use semver <https://semver.org/>_, 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

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>_.