kenjenlee / qibullet

Bullet simulation for SBR robots

qiBullet

Bullet-based python simulation for SoftBank Robotics' robots.

Installation

The following modules are required:

• numpy
• pybullet

The qiBullet module can be installed via pip, for python 2.7 and python 3:

pip install --user qibullet

Usage

A robot can be spawned via the SimulationManager class:

from qibullet import SimulationManager

if __name__ == "__main__":
    simulation_manager = SimulationManager()

    # Launch a simulation instances, with using a graphical interface.
    # Please note that only one graphical interface can be launched at a time
    client_id = simulation_manager.launchSimulation(gui=True)

    # Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
    # ground plane
    pepper = simulation_manager.spawnPepper(
        client_id,
        translation=[0, 0, 0],
        quaternion=[0, 0, 0, 1],
        spawn_ground_plane=True)

    # Or a NAO robot, at a default position
    nao = simulation_manager.spawnNao(
        client_id,
        spawn_ground_plane=True)

Or using loadRobot from the PepperVirtual class if you already have a simulated environment:

    pepper = PepperVirtual()

    pepper.loadRobot(
      translation=[0, 0, 0],
      quaternion=[0, 0, 0, 1],
      physicsClientId=client_id)

More snippets can be found in the examples folder, or in the repository wiki

Documentation

The qiBullet API documentation can be found here. The documentation can be generated via the following command (the doxygen package has to be installed beforehand, and the docs folder has to exist):

cd docs
doxygen

The repository also contains a wiki, providing some tutorials.

Citations

Please cite qiBullet if you use this repository in your publications:

@article{busy2019qibullet,
  title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
  author={Busy, Maxime and Caniot, Maxime},
  journal={arXiv preprint arXiv:1909.00779},
  year={2019}
}

Troubleshooting

OpenGL driver

If you encounter the message:

Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu

Your computer is using the Intel OpenGL driver. Go to Software & Updates, Additional Drivers, and select a driver corresponding to your GPU.

License

Licensed under the Apache-2.0 License