qibullet 1.0.0

Bullet-based simulation for SoftBank Robotics' 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

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
    pepper = simulation_manager.spawnPepper(
        client_id,
        [0, 0, 0],
        [0, 0, 0, 1],
        spawn_ground_plane=True)

Or via the PepperVirtual class:

import time
import pybullet as p
import pybullet_data
from qibullet import PepperVirtual

if __name__ == "__main__":
    physicsClient = p.connect(p.GUI)
    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
    p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
    p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
    p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)

    p.setRealTimeSimulation(1)
    p.setGravity(0, 0, -9.81)

    p.setAdditionalSearchPath(pybullet_data.getDataPath())
    p.loadMJCF("mjcf/ground_plane.xml")

    pepper = PepperVirtual()
    pepper.loadRobot([0, 0, 0], [0, 0, 0, 1], physicsClientId=physicsClient)

More snippets can be found in the examples folder:

• A basic usage of the PepperVirtual class
• Launch multiple simulation instances
• A script using several simulation instances to compute the error on the joint positions
• A basic usage of the PepperRosWrapper class (bridge between qibullet and ROS)
• Script allowing a simulated model to mimic a real robot's movements

Documentation

The documentation can be generated via the following command (the epydoc Python package has to be installed beforehand):

epydoc --html qibullet/ -o docs/ --name qibullet

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.