Examples

Six tutorials that walk through the core PyBulletFleet APIs. Each tutorial is based on a runnable script in examples/ — you can open the file, run it, and follow along in the docs at the same time.

Tip

Tutorials are numbered for reference, not as a required reading order. Jump directly to the topic you need — each tutorial lists its prerequisites at the top so you can backtrack only when necessary.

Tutorials

#	Tutorial	Script	What you’ll learn
1	Spawning Objects	basics/robot_demo.py	Create sim, spawn agents & objects, set_goal_pose()
2	Action System	mobile/path_following_demo.py	MoveAction, PickAction, DropAction lifecycle
3	Multi-Robot Fleet	scale/100robots_grid_demo.py	AgentManager, grid spawn, 100+ robots
4	Arm Pick & Drop	arm/pick_drop_arm_demo.py	Joint-space IK, JointAction, tolerance tuning
5	Arm EE Control	arm/pick_drop_arm_ee_demo.py	End-effector IK, PoseAction, mobile manipulators
6	Robot Models	models/resolve_urdf_demo.py	resolve_urdf, model registry, robot_descriptions

Switching Robot Models with --robot

Most demo scripts accept a --robot argument to swap the robot model at runtime. Pass a model name (resolved via resolve_urdf()) or a direct URDF path. The model should be compatible with the demo category — arm models for arm demos, mobile models for mobile demos:

# Arm demos — pass arm models (default: panda)
python examples/arm/pick_drop_arm_demo.py --robot kuka_iiwa

# Mobile demos — pass mobile models (default: husky)
python examples/mobile/path_following_demo.py --robot racecar

# Scale demos
python examples/scale/100robots_cube_patrol_demo.py --robot mobile_robot
python examples/scale/pick_drop_arm_100robots_demo.py --robot kuka_iiwa

# Grid demo — has both --robot (mobile) and --arm-robot (arm)
python examples/scale/100robots_grid_demo.py --robot racecar --arm-robot kuka_iiwa

Category	Scripts	Argument	Default	Alternatives
Arm demos	examples/arm/pick_drop_arm_*.py, rail_arm_demo.py	--robot	panda	kuka_iiwa, arm_robot
Mobile demos	examples/mobile/path_following_demo.py	--robot	husky	racecar, mobile_robot
Scale (mobile)	100robots_cube_patrol_demo.py, pick_drop_mobile_100robots_demo.py	--robot	husky	racecar, mobile_robot
Scale (arm)	pick_drop_arm_100robots_demo.py	--robot	panda	kuka_iiwa, arm_robot
Grid demo	100robots_grid_demo.py	--robot	husky	racecar, mobile_robot
Grid demo	100robots_grid_demo.py	--arm-robot	panda	kuka_iiwa, arm_robot
Model demos	resolve_urdf_demo.py	--robot	panda	any registered model
Model demos	robot_descriptions_demo.py	--robot	tiago	any robot_descriptions model

Model names are resolved by resolve_urdf() — see Tutorial 6 — Robot Models for the full resolution system and python examples/models/resolve_urdf_demo.py --list for all available names.

API Quick-Reference

API	Covered in
SimObject.from_mesh / from_params	Tutorial 1
Agent.from_mesh / from_urdf / from_params	Tutorials 1, 4, 6
resolve_urdf / list_all_models / discover_models / auto_detect_profile	Tutorial 6
register_model / unregister_model / add_search_path	Tutorial 6
Pose.from_xyz / from_euler	Tutorials 1–4
agent.get_pose() / set_pose()	Tutorial 1
agent.set_goal_pose()	Tutorial 1
agent.set_path()	Tutorial 3
sim_core.register_callback()	Tutorials 1–3
MoveAction / PickAction / DropAction / WaitAction	Tutorials 2, 4
JointAction	Tutorial 4
JointAction tolerance (scalar, dict, agent-level)	Tutorial 4
PoseAction	Tutorial 5
agent.move_end_effector()	Tutorial 5
IKParams	Tutorial 5
IKParams(ik_joint_names=...)	Tutorial 5
DropAction(drop_relative_pose=...)	Tutorials 2, 5
PickAction(ee_target_position=...) / DropAction(ee_target_position=...)	Tutorial 5
agent.add_action_sequence()	Tutorials 2, 4, 5
Agent.joint_tolerance / per-joint tolerance	Tutorial 4
set_all_joints_targets / set_joint_target	Tutorials 1, 4
attach_object with parent_link_index	Tutorial 4
AgentManager / GridSpawnParams	Tutorial 3
manager.spawn_agents_grid_mixed()	Tutorial 3
SimulationParams.enable_floor	Tutorial 1