The ROS-PyBullet Interface is a framework that provides a bridge between the popular Robot Operating System (ROS) with a reliable impact/contact simulator PyBullet. Furthermore, this framework provides several interfaces that allow humans to interact with the simulator that facilitates Human-Robot Interaction in a virtual world.
The documentation can be found here.
- ROS Noetic
- Ubuntu 20.04
- Python 3
- Create a catkin workspace.
cd
into thesrc
directory.- Clone this repository:
git clone https://github.com/ros-pybullet/ros_pybullet_interface.git
cd ros_pybullet_interface
- Inspect
install.sh
, and if you are happy then run:bash install.sh
Now, you should be able to run the examples.
If you use the interface in your work, please consider citing us.
@article{Mower2022,
author = {Mower, Christopher E. and Stouraitis, Theodoros and Moura, João and Rauch, Christian and Yan, Lei and Behabadi, Nazanin Zamani and Gienger, Michael and Vercauteren, Tom and Bergeles, Christos and Vijayakumar, Sethu},
title = {ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction},
journal = {[to appear] Proceedings of the Conference on Robot Learning},
year = {2022},
}