Bullet-based simulation for SoftBank Robotics' robots
Bullet-based python simulation for SoftBank Robotics' robots.
The following modules are required:
The qibullet module can be installed via pip, for python 2.7 and python 3:
pip install --user qibullet
Please note that only the Pepper robot is currently handled by this module. A robot can be spawn 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 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)
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.
Please cite qibullet if you use this repository in your publications:
Paper coming soon...
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.
Licensed under the Apache-2.0 License
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