PyBullet Nao Playground + Motion Editor

A simulation environment for testing Nao motions/behaviors/vision(possibly?).

Setup

1. Clone the repository to a convenient location.

   git clone git@github.com:UNSWComputing/PyBullet-Nao-Motion-Editor.git

2. Create a virtual environment. Note: Make sure you have python 3.7.5 or above installed.

   python -m venv qibullet

3. Activate the environment.

   source ./qibullet/bin/activate on Linux

   .\qibullet\Scripts\activate on Windows

4. Install the required python modules.

   pip install -r requirements.txt

Running the POS file generator

Before you use the motion editor, run python test-script.py to ensure everything works. You may need to agree to Softbank's Licence agreement in the terminal the first time you run it.

To use the motion editor, run python move-joints.py and wait for the Nao model and sliders to load in the GUI.

You can now adjust the sliders to move the Nao model's joints.

To capture a keyframe, click the capture keyframe button(scroll down to the bottom of all the sliders). This records the joint values internally. Note: There is not yet a way to specify the duration or the stiffness of each joint.

To generate a .pos file, close the pybullet window or hit ESC. A file with the name motion_<date+time>.pos should get generated.

Notes

• This is still a work in progress and hasn't been tested sufficiently. So the current interface/workflow might be a bit janky.