Real-Time Physics Simulation Forum

Re: PyBullet and MoveIt

2021-11-10T07:53:38+00:00

I managed to solve the memory leak issue by clipping the depth image to ensure the maximum depth in the image is < 1000 (ie 1m)

Statistics: Posted by jy21 — Wed Nov 10, 2021 7:53 am

Re: PyBullet and MoveIt

2021-11-05T09:46:53+00:00

Hi,

For path planning, you can try pybullet-planning:
https://github.com/yijiangh/pybullet_planning

Statistics: Posted by Blerims — Fri Nov 05, 2021 9:46 am

PyBullet and MoveIt

2021-11-03T07:15:21+00:00

I've been trying to use MoveIt as the motion planner for my robot arm in PyBullet. I've managed to use MoveIt servo to teleoperate my arm in PyBullet.

I would like to perform collision checking in MoveIt, so I am using PyBullet's depth image as a depth map for MoveIt's perception (followed tutorial here https://ros-planning.github.io/moveit_t ... orial.html). The octomap is working and collision can be detected, but there is a memory leak when running the octomap. This doesn't happen when I run the simulation in Gazebo.

Has anyone tried running PyBullet with MoveIt successfully before? Otherwise, is there a better way to perform teleoperation and collision checking in PyBullet?

Thanks!

Statistics: Posted by jy21 — Wed Nov 03, 2021 7:15 am