Pyastrobee: A space robotics simulation environment in Python

Documentation

The full documentation can be accessed here

The "helpful notes" pages can be found on the sidebar of this site, as well as in this readme. For the code documentation, expand the Reference section in the sidebar and explore each module in the drop-down menus. Alternatively, search for a specific keyword with the searchbar above.

We use Portray to build the documentation. Note: if you'd like a local copy of the documentation with the most up-to-date information, run portray in_browser in the main repo folder.

Helpful notes:

Getting Started: Setting up the repository

Additional Installs: Additional installs important for working with the project

Loading ISS Meshes: Dealing with complex meshes and textures in Pybullet

Re-texturing: How to modify Astrobee meshes to load the URDF with a single texture file

Meshing: Tips on creating new (triangular) meshes to load into Pybullet

Tetrahedral Meshing: How to generate and modify tetrahedral meshes for soft bodies

Bag Dynamics: Some notes on defining mass/inertia values of the cargo bag

Using NASA's simulator: Helpful commands and installation debugging (optional)

Assorted Pybullet tips: Important notes that might not be clear from the quickstart guide

References: Links to hepful resources