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A motion editor for the Nao robot, primarily for RoboCup.

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UNSWComputing/PyBullet-Nao-Motion-Editor

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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 [email protected]: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.

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A motion editor for the Nao robot, primarily for RoboCup.

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