@robogeekcanada

Pybullet Tutorials

A collection of PyBullet tutorials using Qibullet's NAO robot.

Installation

Ubuntu or WSL

$ pip install pybullet
$ pip install qibullet

Windows

For Windows I strongly recommend using Conda for the installation.

1. Clone the repo:

git clone https://github.com/robogeekcanada/pybullet-tutorials.git

2. Conda install the environment: pybullet_env.yml or refer to list of dependencies required in .yml file.

conda env create --file pybullet_env.yml
conda activate pybullet_env

If it's the first time running QiBullet, make sure to accept the agreement in your computer, otherwise you won't be able to load NAO robots in PyBullet. More info: https://github.com/softbankrobotics-research/qibullet

Instructions

1. Complete installation, preferably in conda.Tested in Windows, Ubuntu and OS
2. Unzip meshes.zip file into the working directory.
3. Test

python nao_color_suits.py

Outline

Each program is designed to explain how to access each component of NAO's hardware in simulation. By combining all these programs, it's possible to develop a robotics soccer game.

nao_cameras.py shows how to access both NAO's cameras

nao_color_suits.py shows how to load a blue and red NAO. Noticed that meshes were updated. Easy to figure out but make sure to read QiBullet agreement

nao_get_link_names.py shows how to access individual links

nao_joints_control.py shows how to access individual joints.

nao_joints_control2.py same but using a different technique to access the hardware.

nao_motions.py shows how to read motion files by hacking these Webots files.

nao_player_label.py shows how to add a player number

nao_soccer_field.py shows how to add a soccer field and a soccer ball

nao_teleportation.py shows how to move to different positions by "teleporting"

This repo is a way to give back to Open Source Community. Feel free to contribute and give feedback. Cheers. Happy Coding everyone!