A simulation environment for testing Nao motions/behaviors/vision(possibly?).
-
Clone the repository to a convenient location.
git clone git@github.com:UNSWComputing/PyBullet-Nao-Motion-Editor.git
-
Create a virtual environment. Note: Make sure you have
python 3.7.5
or above installed.python -m venv qibullet
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Activate the environment.
source ./qibullet/bin/activate
on Linux.\qibullet\Scripts\activate
on Windows -
Install the required python modules.
pip install -r requirements.txt
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.
- This is still a work in progress and hasn't been tested sufficiently. So the current interface/workflow might be a bit janky.