qiBullet immediately terminates

[DHaziri]

I followed the installation tutorial and then tried launching the simulator, but right after launching it terminated. It's a thread problem, but I can't understand how I'm supposed to fix it. Does anyone know of this problem, or could maybe help with solving it?

pybullet build time: Sep 10 2021 15:27:19
starting thread 0
started testThreads thread 0 with threadHandle 0000000000000314
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
Version = 4.6.0 - Build 26.20.100.6888
Vendor = Intel
Renderer = Intel(R) UHD Graphics 620
b3Printf: Selected demo: Physics Server
starting thread 0
started MotionThreads thread 0 with threadHandle 00000000000005DC
MotionThreadFunc thread started
numActiveThreads = 0
stopping threads
Thread with taskId 0 with handle 00000000000005DC exiting
Thread TERMINATED
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 with handle 0000000000000314 exiting
Thread TERMINATED
Press any key to continue . . .

[mbusy]

Hi @DHaziri, could you provide the snippet of code that you used to launch the simulator? Also, which OS and version of qiBullet are you using?

[DHaziri]

I'm using the code in the readME

from qibullet import SimulationManager

if __name__ == "__main__":
    simulation_manager = SimulationManager()

    # Launch a simulation instances, with using a graphical interface.
    # Please note that only one graphical interface can be launched at a time
    client_id = simulation_manager.launchSimulation(gui=True)

    # Selection of the robot type to spawn (True : Pepper, False : NAO)
    pepper_robot = True

    if pepper_robot:
      # Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
      # ground plane
      pepper = simulation_manager.spawnPepper(
          client_id,
          translation=[0, 0, 0],
          quaternion=[0, 0, 0, 1],
          spawn_ground_plane=True)
    else:
      # Or a NAO robot, at a default position
      nao = simulation_manager.spawnNao(
          client_id,
          spawn_ground_plane=True)

I'm on windows 10 and qiBullet 1.4.3

[mbusy]

Alright, I understand. This snippet will allow you to spawn a robot into the simulation, but you should add some code to interact with the robot after this snippet, or a blocking call to prevent the program from being terminated.

Here's a modified snippet that should allow you to interact with the robot:

from qibullet import SimulationManager

if __name__ == "__main__":
    simulation_manager = SimulationManager()

    # Launch a simulation instances, with using a graphical interface.
    # Please note that only one graphical interface can be launched at a time
    client_id = simulation_manager.launchSimulation(gui=True)

    # Selection of the robot type to spawn (True : Pepper, False : NAO)
    pepper_robot = True

    if pepper_robot:
      # Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
      # ground plane
      pepper = simulation_manager.spawnPepper(
          client_id,
          translation=[0, 0, 0],
          quaternion=[0, 0, 0, 1],
          spawn_ground_plane=True)
    else:
      # Or a NAO robot, at a default position
      nao = simulation_manager.spawnNao(
          client_id,
          spawn_ground_plane=True)

    # You can add code here, to control the robot or retrieve sensor information

    # Blocking call and termination of the simulation. Use raw_input if you're using Python 2
    input("Press a key to terminate the program")
    simulation_manager.stopSimulation(client_id)

You can also take a look to the examples for more functional scripts.

[mbusy]

But overall, this snippet in the README might be a bit confusing, modifying it could be a good idea. I'll probably open an issue on that, thanks for pointing that out!

Edit: #69