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ROS PyBullet Interface

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.

Requirements

  • ROS Noetic
  • Ubuntu 20.04
  • Python 3

Install

  1. Create a catkin workspace.
  2. cd into the src directory.
  3. Clone this repository: git clone https://github.com/ros-pybullet/ros_pybullet_interface.git
  4. cd ros_pybullet_interface
  5. Inspect install.sh, and if you are happy then run: bash install.sh

Now, you should be able to run the examples.

Cite

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},
}