About The Project
pyBullet is a great framework to simulate physics for robots. I wanted to have a very simple intro into pyBullet, that is a bit more complex than a "hello world". It should contain a user controllable robot to demonstrate in python how to control it as well as other physical objects to interact with. This is a mashup of some URDF files and a python script that play well together. The URDF files don't have .obj files in them nor do they contain images and textures. Thus, they are easily human readable which is the whole goal of this repo.
Here's a video about what you get:
Getting Started
To get a local copy up and running follow these simple steps.
Prerequisites
This demo has been developed on Ubuntu Linux, thus the paths in the python script should be changed when running on windows.
Installation
- Clone the repo
git clone https://github.com/assadollahi/pyBulletIntro.git
- Install pyBullet
pip3 install pyBullet
Usage
To run this intro: python3 turtleKeyboardMove.py
License
Distributed under the Apache License 2.0. See LICENSE for more information.
Contact
Corresponding Blog Category: https://assadollahi.de/category/pybullet/ Project Link: https://github.com/assadollahi/pyBulletIntro
Acknowledgements
- [https://github.com/erwincoumans/pybullet_robots/blob/master/turtlebot.py] (https://github.com/erwincoumans/pybullet_robots/blob/master/turtlebot.py) turtle keyboard movement
- [https://industrial-training-master.readthedocs.io/en/melodic/_source/session3/Intro-to-URDF.html] (https://industrial-training-master.readthedocs.io/en/melodic/_source/session3/Intro-to-URDF.html) URDF definition of a box
- [https://www.theconstructsim.com/exploring-ros-2-wheeled-robot-part-01/] (https://www.theconstructsim.com/exploring-ros-2-wheeled-robot-part-01/) URDF definition of a two wheeled robot, I further simplified