qiBullet is a Bullet-based python simulation for SoftBank Robotics' robots. Currently, only the Pepper robot can be simulated.

The qiBullet module can be installed via pip, for python 2.7 and python 3:

pip install --user qibullet

More details on qiBullet's installation (installing from source, additional resources) are provided in the installation tutorial.

Tutorials can be found here. Additional code examples are also available here

The documentation of the API can be found here

Please cite qiBullet if you use this repository in your publications:

@article{busy2019qibullet,
  title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
  author={Busy, Maxime and Caniot, Maxime},
  journal={arXiv preprint arXiv:1909.00779},
  year={2019}
}