PyBullet Industrial Path Planner

PyBullet Industrial Path Planner is a modular Python package for sampling-based path planning with industrial robots in PyBullet environments. It integrates the Open Motion Planning Library and provides tools to define, execute, and validate motion plans under geometric constraints.

Features

• OMPL Integration: Direct access to OMPL through a compatible interface and tailored extensions.

• Serial-Kinematic Chains: Builds joint-based configuration spaces with robot-specific bounds derived from URDF models.

• Object Support: Supports planning with attached tools and grasped external objects during configuration sampling.

• Collision Checking: Enables detailed management of internal, external, and explicitly allowed collision pairs.

• Task Constraints: Supports additional application-specific constraints through the state validity module.

• Clearance Computation: Calculates minimum distances to obstacles using pairwise collision checks.

• Optimization Objectives: Includes objectives for clearance, joint-space distance, and end-effector motion.

• Multi-Objective Planning: Supports weighted combinations of multiple optimization criteria.

• Simple Setup API: High-level interface for defining motion problems and retrieving feasible solutions.

• Graphical User Interface: Provides practical accessibility through visual interaction.

• G-Code Generation: Tools for logging or converting solution paths into deployable machine code.

Example: Comau NJ290-3.0 in a Cell Environment

Installation

1. Install PyBullet Industrial

Ensure that the latest version from the main branch is installed:

git clone https://github.com/WBK-Robotics/pybullet_industrial.git
cd pybullet_industrial
pip install src/

2. Install OMPL with Python bindings

To install OMPL with Python bindings, follow the official instructions at: https://ompl.kavrakilab.org/python.html.

For easy setup, we recommend using the prebuilt Python bindings from the OMPL development build.

Note: Prebuilt binaries are currently available for Linux and macOS only. Windows users are advised to use WSL (Windows Subsystem for Linux) to install OMPL.

3. Install the Path Planner Package

Clone and install the path planner package:

git clone https://github.com/WBK-Robotics/pybullet_industrial_path_planner.git
cd pybullet_industrial_path_planner
pip install src/

License

MIT License

Contributions

Issues and pull requests are welcome. If you use this package in academic work, please cite or acknowledge the source.

Citing the Package

If you find the package useful, please consider citing our paper.