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eagerx_pybullet package

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.. contents:: Table of Contents :depth: 2

What is the eagerx_pybullet package?

This repository/package contains the PybulletEngine for simulating robots with EAGERx in pybullet. EAGERx (Engine Agnostic Graph Environments for Robotics) enables users to easily define new tasks, switch from one sensor to another, and switch from simulation to reality with a single line of code by being invariant to the physics engine.

The core repository is available here <https://github.com/eager-dev/eagerx>_.

Full documentation and tutorials (including package creation and contributing) are available here <https://eagerx.readthedocs.io>_.

Installation

You can install the package using pip:

.. code:: shell

pip3 install eagerx-pybullet

Examples

For examples on how to use this package to add a pybullet implementation for your objects, please see:

• Example environment <example/example.py>_ containing the objects:
  • Example manipulator (vx300s) <example/objects/vx300s/objects.py>_
  • Example camera <example/objects/camera/objects.py>_
  • Example solid <example/objects/solid/objects.py>_

Documentation

• PybulletEngine <eagerx_pybullet/engine.py>_

• EngineNodes <eagerx_pybullet/enginenodes.py>_:

  • LinkSensors <eagerx_pybullet/enginenodes.py>_
  • JointSensors <eagerx_pybullet/enginenodes.py>_
  • JointController <eagerx_pybullet/enginenodes.py>_
  • CameraSensor <eagerx_pybullet/enginenodes.py>_
  • Or implement a custom engine node (see here <https://eagerx.readthedocs.io/en/master/guide/developer_guide/index.html>_).

• EngineStates <eagerx_pybullet/enginestates.py>_:

  • JointState <eagerx_pybullet/enginestates.py>_
  • LinkState <eagerx_pybullet/enginestates.py>_
  • PbDynamics <eagerx_pybullet/enginestates.py>_
  • Or implement a custom engine state (see here <https://eagerx.readthedocs.io/en/master/guide/developer_guide/index.html>_).

Acknowledgements

EAGERx is funded by the OpenDR <https://opendr.eu/>_ Horizon 2020 project.