Planning in PyBullet using Via-Point Stochastic Optimization(VP-STO)

Code for Via-Point Stochastic Optimization(VP-STO) planner for UR5e manipulator. Simulated in PyBullet using pybullet_planning library.

Instructions to Run

• install pybullet_planning. Run the following:

pip install git+https://github.com/yijiangh/pybullet_planning@dev#egg=pybullet_planning

This will install both pybullet and pybullet_planning.

We also use termcolor to do colorful terminal printing, install it by:

pip install termcolor

• install VP-STO dependencies from https://github.com/JuJankowski/vp-sto

• install VP-STO. Run the following:

cd vp-sto
pip install .

• cd examples
• Run the vpsto code:

python ur5_vpsto.py