pybullet-fleet 0.1.0__tar.gz

pybullet_fleet-0.1.0/LICENSE

@@ -0,0 +1,191 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+      "Contribution" shall mean any work of authorship, including
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
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+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
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+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
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+      You may add Your own copyright statement to Your modifications and
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+      for any such Derivative Works as a whole, provided Your use,
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+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
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+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
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+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
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+      and charge a fee for, acceptance of support, warranty, indemnity,
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+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
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+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
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+
+   END OF TERMS AND CONDITIONS
+
+   Copyright 2025 Yu Okamoto
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
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+
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pybullet_fleet-0.1.0/PKG-INFO

@@ -0,0 +1,346 @@
+Metadata-Version: 2.4
+Name: pybullet-fleet
+Version: 0.1.0
+Summary: Multi-robot simulation framework with PyBullet
+Author-email: Yu Okamoto <yuokamoto1988@gmail.com>
+License: 
+                                         Apache License
+                                   Version 2.0, January 2004
+                                http://www.apache.org/licenses/
+        
+           TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+        
+           1. Definitions.
+        
+              "License" shall mean the terms and conditions for use, reproduction,
+              and distribution as defined by Sections 1 through 9 of this document.
+        
+              "Licensor" shall mean the copyright owner or entity authorized by
+              the copyright owner that is granting the License.
+        
+              "Legal Entity" shall mean the union of the acting entity and all
+              other entities that control, are controlled by, or are under common
+              control with that entity. For the purposes of this definition,
+              "control" means (i) the power, direct or indirect, to cause the
+              direction or management of such entity, whether by contract or
+              otherwise, or (ii) ownership of fifty percent (50%) or more of the
+              outstanding shares, or (iii) beneficial ownership of such entity.
+        
+              "You" (or "Your") shall mean an individual or Legal Entity
+              exercising permissions granted by this License.
+        
+              "Source" form shall mean the preferred form for making modifications,
+              including but not limited to software source code, documentation
+              source, and configuration files.
+        
+              "Object" form shall mean any form resulting from mechanical
+              transformation or translation of a Source form, including but
+              not limited to compiled object code, generated documentation,
+              and conversions to other media types.
+        
+              "Work" shall mean the work of authorship, whether in Source or
+              Object form, made available under the License, as indicated by a
+              copyright notice that is included in or attached to the work
+              (an example is provided in the Appendix below).
+        
+              "Derivative Works" shall mean any work, whether in Source or Object
+              form, that is based on (or derived from) the Work and for which the
+              editorial revisions, annotations, elaborations, or other modifications
+              represent, as a whole, an original work of authorship. For the purposes
+              of this License, Derivative Works shall not include works that remain
+              separable from, or merely link (or bind by name) to the interfaces of,
+              the Work and Derivative Works thereof.
+        
+              "Contribution" shall mean any work of authorship, including
+              the original version of the Work and any modifications or additions
+              to that Work or Derivative Works thereof, that is intentionally
+              submitted to the Licensor for inclusion in the Work by the copyright owner
+              or by an individual or Legal Entity authorized to submit on behalf of
+              the copyright owner. For the purposes of this definition, "submitted"
+              means any form of electronic, verbal, or written communication sent
+              to the Licensor or its representatives, including but not limited to
+              communication on electronic mailing lists, source code control systems,
+              and issue tracking systems that are managed by, or on behalf of, the
+              Licensor for the purpose of discussing and improving the Work, but
+              excluding communication that is conspicuously marked or otherwise
+              designated in writing by the copyright owner as "Not a Contribution."
+        
+              "Contributor" shall mean Licensor and any individual or Legal Entity
+              on behalf of whom a Contribution has been received by the Licensor and
+              subsequently incorporated within the Work.
+        
+           2. Grant of Copyright License. Subject to the terms and conditions of
+              this License, each Contributor hereby grants to You a perpetual,
+              worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+              copyright license to reproduce, prepare Derivative Works of,
+              publicly display, publicly perform, sublicense, and distribute the
+              Work and such Derivative Works in Source or Object form.
+        
+           3. Grant of Patent License. Subject to the terms and conditions of
+              this License, each Contributor hereby grants to You a perpetual,
+              worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+              (except as stated in this section) patent license to make, have made,
+              use, offer to sell, sell, import, and otherwise transfer the Work,
+              where such license applies only to those patent claims licensable
+              by such Contributor that are necessarily infringed by their
+              Contribution(s) alone or by combination of their Contribution(s)
+              with the Work to which such Contribution(s) was submitted. If You
+              institute patent litigation against any entity (including a
+              cross-claim or counterclaim in a lawsuit) alleging that the Work
+              or a Contribution incorporated within the Work constitutes direct
+              or contributory patent infringement, then any patent licenses
+              granted to You under this License for that Work shall terminate
+              as of the date such litigation is filed.
+        
+           4. Redistribution. You may reproduce and distribute copies of the
+              Work or Derivative Works thereof in any medium, with or without
+              modifications, and in Source or Object form, provided that You
+              meet the following conditions:
+        
+              (a) You must give any other recipients of the Work or
+                  Derivative Works a copy of this License; and
+        
+              (b) You must cause any modified files to carry prominent notices
+                  stating that You changed the files; and
+        
+              (c) You must retain, in the Source form of any Derivative Works
+                  that You distribute, all copyright, patent, trademark, and
+                  attribution notices from the Source form of the Work,
+                  excluding those notices that do not pertain to any part of
+                  the Derivative Works; and
+        
+              (d) If the Work includes a "NOTICE" text file as part of its
+                  distribution, then any Derivative Works that You distribute must
+                  include a readable copy of the attribution notices contained
+                  within such NOTICE file, excluding any notices that do not
+                  pertain to any part of the Derivative Works, in at least one
+                  of the following places: within a NOTICE text file distributed
+                  as part of the Derivative Works; within the Source form or
+                  documentation, if provided along with the Derivative Works; or,
+                  within a display generated by the Derivative Works, if and
+                  wherever such third-party notices normally appear. The contents
+                  of the NOTICE file are for informational purposes only and
+                  do not modify the License. You may add Your own attribution
+                  notices within Derivative Works that You distribute, alongside
+                  or as an addendum to the NOTICE text from the Work, provided
+                  that such additional attribution notices cannot be construed
+                  as modifying the License.
+        
+              You may add Your own copyright statement to Your modifications and
+              may provide additional or different license terms and conditions
+              for use, reproduction, or distribution of Your modifications, or
+              for any such Derivative Works as a whole, provided Your use,
+              reproduction, and distribution of the Work otherwise complies with
+              the conditions stated in this License.
+        
+           5. Submission of Contributions. Unless You explicitly state otherwise,
+              any Contribution intentionally submitted for inclusion in the Work
+              by You to the Licensor shall be under the terms and conditions of
+              this License, without any additional terms or conditions.
+              Notwithstanding the above, nothing herein shall supersede or modify
+              the terms of any separate license agreement you may have executed
+              with Licensor regarding such Contributions.
+        
+           6. Trademarks. This License does not grant permission to use the trade
+              names, trademarks, service marks, or product names of the Licensor,
+              except as required for reasonable and customary use in describing the
+              origin of the Work and reproducing the content of the NOTICE file.
+        
+           7. Disclaimer of Warranty. Unless required by applicable law or
+              agreed to in writing, Licensor provides the Work (and each
+              Contributor provides its Contributions) on an "AS IS" BASIS,
+              WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+              implied, including, without limitation, any warranties or conditions
+              of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+              PARTICULAR PURPOSE. You are solely responsible for determining the
+              appropriateness of using or redistributing the Work and assume any
+              risks associated with Your exercise of permissions under this License.
+        
+           8. Limitation of Liability. In no event and under no legal theory,
+              whether in tort (including negligence), contract, or otherwise,
+              unless required by applicable law (such as deliberate and grossly
+              negligent acts) or agreed to in writing, shall any Contributor be
+              liable to You for damages, including any direct, indirect, special,
+              incidental, or consequential damages of any character arising as a
+              result of this License or out of the use or inability to use the
+              Work (including but not limited to damages for loss of goodwill,
+              work stoppage, computer failure or malfunction, or any and all
+              other commercial damages or losses), even if such Contributor
+              has been advised of the possibility of such damages.
+        
+           9. Accepting Warranty or Additional Liability. While redistributing
+              the Work or Derivative Works thereof, You may choose to offer,
+              and charge a fee for, acceptance of support, warranty, indemnity,
+              or other liability obligations and/or rights consistent with this
+              License. However, in accepting such obligations, You may act only
+              on Your own behalf and on Your sole responsibility, not on behalf
+              of any other Contributor, and only if You agree to indemnify,
+              defend, and hold each Contributor harmless for any liability
+              incurred by, or claims asserted against, such Contributor by reason
+              of your accepting any such warranty or additional liability.
+        
+           END OF TERMS AND CONDITIONS
+        
+           Copyright 2025 Yu Okamoto
+        
+           Licensed under the Apache License, Version 2.0 (the "License");
+           you may not use this file except in compliance with the License.
+           You may obtain a copy of the License at
+        
+               http://www.apache.org/licenses/LICENSE-2.0
+        
+           Unless required by applicable law or agreed to in writing, software
+           distributed under the License is distributed on an "AS IS" BASIS,
+           WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+           See the License for the specific language governing permissions and
+           limitations under the License.
+        
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pybullet>=3.0.0
+Requires-Dist: numpy>=1.20.0
+Requires-Dist: scipy>=1.7.0
+Requires-Dist: pyyaml>=5.4.0
+Requires-Dist: two-point-interpolation>=1.3.1
+Provides-Extra: dev
+Requires-Dist: black>=23.0.0; extra == "dev"
+Requires-Dist: isort>=5.12.0; extra == "dev"
+Requires-Dist: flake8>=6.0.0; extra == "dev"
+Requires-Dist: mypy>=1.0.0; extra == "dev"
+Requires-Dist: pre-commit>=3.0.0; extra == "dev"
+Requires-Dist: pytest>=7.0.0; extra == "dev"
+Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
+Requires-Dist: psutil>=5.9.0; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: sphinx>=7.0; extra == "docs"
+Requires-Dist: sphinx-rtd-theme>=2.0; extra == "docs"
+Requires-Dist: sphinx-autodoc-typehints>=2.0; extra == "docs"
+Requires-Dist: sphinx-copybutton>=0.5; extra == "docs"
+Requires-Dist: myst-parser>=3.0; extra == "docs"
+Requires-Dist: sphinxcontrib-mermaid>=1.0; extra == "docs"
+Dynamic: license-file
+
+# PyBulletFleet
+
+[![Documentation](https://readthedocs.org/projects/pybulletfleet/badge/?version=latest)](https://pybulletfleet.readthedocs.io/en/latest/)
+
+A **kinematics-first** simulation framework for large-scale multi-robot fleets, built on PyBullet and designed for **fast N× real-time** evaluation.
+
+## What is PyBulletFleet?
+
+Different simulation goals call for different tools.
+Physics-focused simulators (Gazebo, Isaac Sim, MuJoCo, etc.) excel at accurate contact dynamics, sensor modelling, and single-robot control — but stepping a full physics engine for every robot becomes the bottleneck when you need to evaluate **fleet-level** systems at scale.
+
+PyBulletFleet sits in a different part of the design space: it is a **kinematics-first, fleet-scale** simulation engine whose primary goal is to enable fast development and testing of the software that *orchestrates* robot fleets rather than the software that *controls* individual robots.
+
+### Design Priorities
+
+- **Speed over fidelity** — Fleet algorithms (task allocation, traffic control, path planning) must be tested with hundreds to thousands of robots running *much faster* than real time. Kinematics-based stepping — teleporting each robot to its next pose without calling `stepSimulation()` — removes the physics bottleneck and enables N× real-time execution.
+- **System integration over low-level control** — The primary consumers are high-level systems: WMS (Warehouse Management Systems), task orchestrators, fleet managers, and monitoring dashboards. These systems issue goals, observe progress via state snapshots, and react to events — they do not need joint-level torque feedback.
+- **Scale over detail** — Validating behaviour at 100+ robot scale matters more than modelling individual link dynamics or sensor noise.
+- **Interoperability** — The simulation is designed around a callback-driven step loop and snapshot-friendly state model, so that it can be plugged into larger orchestration frameworks, replay pipelines, or external control systems (e.g., gRPC / ROS 2) as those interfaces are built out.
+- **Physics as an option** — When physical interaction *is* needed (grasping, conveyor dynamics, contact verification), full PyBullet physics can be switched on per-scenario without changing the rest of the stack.
+
+### Target Use Cases
+
+| Use Case | Description |
+|----------|-------------|
+| Fleet algorithm evaluation | Test path planning, task allocation, and traffic control for large robot fleets at N× real-time speed |
+| Warehouse simulation | Simulate pick-and-place, patrol, and transport operations with mobile robots and arms |
+| Scalability benchmarking | Measure how fleet software scales from tens to thousands of agents |
+| Rapid prototyping | Quickly iterate on multi-robot behaviors with minimal boilerplate |
+
+## Quick Start
+
+```bash
+# 1. Install package
+cd PyBulletFleet
+pip install -e .
+
+# 2. Run demo
+python examples/100robots_grid_demo.py
+```
+
+## Performance
+
+<!-- sync with docs/benchmarking/results.md -->
+> Results from a single test environment (Intel i7-1185G7, 32 GB RAM, Ubuntu 20.04). Your numbers will vary depending on hardware.
+
+| Agents | Real-Time Factor | Step Time |
+|--------|-----------------|-----------|
+| 100    | 48× | 2.1 ms  |
+| 500    | 6.8×| 14.7 ms |
+| 1000   | 2.4×| 40.9 ms |
+| 2000   | 1.1×| 94.8 ms |
+
+Kinematics mode (physics OFF), headless. See [Benchmark Results](benchmark/README.md#benchmark-results) for full data, component breakdown, and methodology.
+
+## Documentation
+
+📖 **Full documentation:** [Read the Docs](https://pybulletfleet.readthedocs.io)
+
+For local builds:
+```bash
+cd docs && sphinx-build -b html . _build/html
+```
+
+## Dependencies
+
+- Python 3.10+
+- PyBullet
+- NumPy
+- PyYAML
+
+## Development Setup
+
+### Install development dependencies
+
+```bash
+pip install -e ".[dev]"
+```
+
+### Run tests
+
+```bash
+pytest
+```
+
+### Pre-commit hooks
+
+Install pre-commit hooks for automatic code formatting and linting:
+
+```bash
+pip install pre-commit
+pre-commit install
+```
+
+Run manually on all files:
+
+```bash
+pre-commit run --all-files
+```
+
+### Code quality tools
+
+**Format code:**
+```bash
+black pybullet_fleet examples
+```
+
+**Lint code:**
+```bash
+flake8 pybullet_fleet
+```
+
+**Type check:**
+```bash
+pyright pybullet_fleet
+```

pybullet_fleet-0.1.0/README.md

@@ -0,0 +1,116 @@
+# PyBulletFleet
+
+[![Documentation](https://readthedocs.org/projects/pybulletfleet/badge/?version=latest)](https://pybulletfleet.readthedocs.io/en/latest/)
+
+A **kinematics-first** simulation framework for large-scale multi-robot fleets, built on PyBullet and designed for **fast N× real-time** evaluation.
+
+## What is PyBulletFleet?
+
+Different simulation goals call for different tools.
+Physics-focused simulators (Gazebo, Isaac Sim, MuJoCo, etc.) excel at accurate contact dynamics, sensor modelling, and single-robot control — but stepping a full physics engine for every robot becomes the bottleneck when you need to evaluate **fleet-level** systems at scale.
+
+PyBulletFleet sits in a different part of the design space: it is a **kinematics-first, fleet-scale** simulation engine whose primary goal is to enable fast development and testing of the software that *orchestrates* robot fleets rather than the software that *controls* individual robots.
+
+### Design Priorities
+
+- **Speed over fidelity** — Fleet algorithms (task allocation, traffic control, path planning) must be tested with hundreds to thousands of robots running *much faster* than real time. Kinematics-based stepping — teleporting each robot to its next pose without calling `stepSimulation()` — removes the physics bottleneck and enables N× real-time execution.
+- **System integration over low-level control** — The primary consumers are high-level systems: WMS (Warehouse Management Systems), task orchestrators, fleet managers, and monitoring dashboards. These systems issue goals, observe progress via state snapshots, and react to events — they do not need joint-level torque feedback.
+- **Scale over detail** — Validating behaviour at 100+ robot scale matters more than modelling individual link dynamics or sensor noise.
+- **Interoperability** — The simulation is designed around a callback-driven step loop and snapshot-friendly state model, so that it can be plugged into larger orchestration frameworks, replay pipelines, or external control systems (e.g., gRPC / ROS 2) as those interfaces are built out.
+- **Physics as an option** — When physical interaction *is* needed (grasping, conveyor dynamics, contact verification), full PyBullet physics can be switched on per-scenario without changing the rest of the stack.
+
+### Target Use Cases
+
+| Use Case | Description |
+|----------|-------------|
+| Fleet algorithm evaluation | Test path planning, task allocation, and traffic control for large robot fleets at N× real-time speed |
+| Warehouse simulation | Simulate pick-and-place, patrol, and transport operations with mobile robots and arms |
+| Scalability benchmarking | Measure how fleet software scales from tens to thousands of agents |
+| Rapid prototyping | Quickly iterate on multi-robot behaviors with minimal boilerplate |
+
+## Quick Start
+
+```bash
+# 1. Install package
+cd PyBulletFleet
+pip install -e .
+
+# 2. Run demo
+python examples/100robots_grid_demo.py
+```
+
+## Performance
+
+<!-- sync with docs/benchmarking/results.md -->
+> Results from a single test environment (Intel i7-1185G7, 32 GB RAM, Ubuntu 20.04). Your numbers will vary depending on hardware.
+
+| Agents | Real-Time Factor | Step Time |
+|--------|-----------------|-----------|
+| 100    | 48× | 2.1 ms  |
+| 500    | 6.8×| 14.7 ms |
+| 1000   | 2.4×| 40.9 ms |
+| 2000   | 1.1×| 94.8 ms |
+
+Kinematics mode (physics OFF), headless. See [Benchmark Results](benchmark/README.md#benchmark-results) for full data, component breakdown, and methodology.
+
+## Documentation
+
+📖 **Full documentation:** [Read the Docs](https://pybulletfleet.readthedocs.io)
+
+For local builds:
+```bash
+cd docs && sphinx-build -b html . _build/html
+```
+
+## Dependencies
+
+- Python 3.10+
+- PyBullet
+- NumPy
+- PyYAML
+
+## Development Setup
+
+### Install development dependencies
+
+```bash
+pip install -e ".[dev]"
+```
+
+### Run tests
+
+```bash
+pytest
+```
+
+### Pre-commit hooks
+
+Install pre-commit hooks for automatic code formatting and linting:
+
+```bash
+pip install pre-commit
+pre-commit install
+```
+
+Run manually on all files:
+
+```bash
+pre-commit run --all-files
+```
+
+### Code quality tools
+
+**Format code:**
+```bash
+black pybullet_fleet examples
+```
+
+**Lint code:**
+```bash
+flake8 pybullet_fleet
+```
+
+**Type check:**
+```bash
+pyright pybullet_fleet
+```