Metadata-Version: 1.1
Name: pybullet-planning
Version: 0.5.0
Summary: a suite of utility functions to facilitate robotic planning related research on the pybullet physics simulation engine.
Home-page: https://github.com/yijiangh/pybullet_planning
Author: Caelan Garrett
Author-email: yijiangh@mit.edu
License: MIT license
Description: =================
        pybullet_planning
        =================
        
        
        
        .. 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
        -------------------
        
        * 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 <https://github.com/caelan>`_
        and other `contributors <https://github.com/yijiangh/pybullet_planning/blob/dev/AUTHORS.rst>`_.
        
        
        Changelog
        =========
        
        All notable changes to this project will be documented in this file.
        
        The format is based on `Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`_
        and this project adheres to `Semantic Versioning <https://semver.org/spec/v2.0.0.html>`_.
        
        
        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.
        
        
Keywords: robotic planning,pybullet
Platform: UNKNOWN
Classifier: Development Status :: 3 - Alpha
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: Unix
Classifier: Operating System :: POSIX
Classifier: Operating System :: Microsoft :: Windows
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.3
Classifier: Programming Language :: Python :: 3.4
Classifier: Programming Language :: Python :: 3.5
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Topic :: Scientific/Engineering
