Roadmap

Planned additions and improvements for PyBulletFleet. Items are grouped by category; ordering within a group does not imply priority.

Assets

New robot and infrastructure models:

  • Physics Mobile Robot — Wheeled robot driven by PyBullet physics (motor torques, friction, contact forces)

  • Physics Mobile Manipulator — Physics-mode mobile manipulator with motor-driven base and arm

  • Conveyor / Elevator / Mobile Rack — Warehouse infrastructure entities for material handling scenarios

Features

  • Snapshot & Replay — Full and delta snapshot serialization for logging, replay, and external synchronization (USO integration)

  • Behavior tree integration - Create agent behavior from behavior tree.

Interfaces

External communication layers:

  • ROS 2 — Topic / service / action bridge for ROS 2 ecosystem integration

  • gRPC — Language-agnostic RPC interface for orchestrators, WMS, and fleet managers

Refactoring

  • Remove scipy dependency — Currently only scipy.spatial.transform.Rotation is used (9 call sites for quat↔euler, quat↔matrix, relative rotation). Replace with PyBullet utilities + lightweight helpers in geometry.py to eliminate the ~150 MB transitive dependency. Low priority: no runtime performance impact, only install size.

CI / DevOps

  • GitHub Actions refactoring — Streamlined CI pipeline

  • Automated performance tracking — Run time / memory benchmarks in CI, auto-update results in documentation, and alert on significant performance regressions