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Introduction

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

Installation

The following modules are required:

• numpy
• pybullet

Using pip

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

pip install --user qibullet

From source

The module can also be install from source: clone the repository, select the branch that suits your needs, go to the root of the project and install the simulator with the following command:

python setup.py install --user

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}
}