Welcome to the PyBullet Industrial Path Planner documentation!
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
