Examples

Three step-by-step 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.

Which tutorial should I read?

I want to…	Start here
Spawn objects in a scene, get/set poses, and move a single robot	Tutorial 1 — Spawning Objects
Execute a sequence of high-level tasks (pick, drop, move, charge)	Tutorial 2 — Action System
Simulate 100 robots at once with a manager and per-robot paths	Tutorial 3 — Managing a Fleet
Simulate a robot arm picking and dropping objects	Tutorial 4 — Arm Pick & Drop
Control an arm by end-effector position (IK)	Tutorial 5 — EE Control & IK
Use IK on a mobile manipulator (base + arm)	Tutorial 5 §6 — Mobile Manipulator IK

• Tutorial 1: Spawning Objects and Controlling Agents
• Tutorial 2: High-Level Actions — Pick, Drop, Move, Wait
• Tutorial 3: Managing a 100-Robot Fleet
• Tutorial 4: Robot Arm — Joint Control & Pick/Drop
• Tutorial 5: End-Effector Control — IK & PoseAction

API Quick-Reference

API	Covered in
SimObject.from_mesh / from_params	Tutorial 1
Agent.from_mesh / from_urdf / from_params	Tutorials 1, 4
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