Real-Time Physics Simulation Forum

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!

Hi,

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

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)