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Introduction

qiBullet is a Bullet-based python simulation for SoftBank Robotics' robots. Currently, only the Pepper robot can be simulated.

Install via pip

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

pip install --user qibullet

To install qiBullet from sources, see the installation page

The installation of the additional resources will automatically be triggered if you try to spawn a Pepper, NAO or Romeo for the first time. If qiBullet finds the additional resources in your local folder, the installation won't be triggered. The robot meshes are under a specific license, you will need to agree to that license in order to install them.

Tutorials

Tutorials can be found here. Additional code examples are also available here

Documentation

The documentation of the API can be found here

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}
}