Pybullet Tutorial

Setup

Conda Environment Setup

To install Anaconda follow the instructions in this webpage

Create a conda environment for the PyBullet tutorial:

conda create --name pyb  

Switch to the newly create environment (you will notice the name of the environment on the command line in the extreme left):

conda activate pyb  

Then, clone the repository on your system:

git clone https://github.com/tayalmanan28/Pybullet_Tutorial.git

Once in the desired environment install the following packages:

conda install nb_conda_kernels  

Install PyBullet (while in the environment):

pip install pybullet  

Install Matplotlib (while in the environment):

conda install matplotlib

Checking Pybullet Installation

To check the installation launch:

python  

Inside the python environment import the pybullet and matplotlib libraries:

>> import pybullet
>> import matplotlib

If this command executes without any error then the installation is successful.

Check the Jupyter notebook by running the following command in the bash shell:

jupyter notebook  

Description of Files

• Kinematics of a serial-2R manipulator (notebook: kinematics.ipynb)

  • Forward kinematics
  • Inverse kinematics
  • Verification of the FK and IK modules against each other .

• Introduction to PyBullet (notebook: sim_env_setup.ipynb)

  • How to start a PyBullet session
  • Settings the simulation parameters in PyBullet
  • Loading URDF files in PyBullet

• Torque control of robot state in PyBullet (notebook: torque_control.ipynb)

  • Obtaining joint information
  • Setting the control mode (and enabling the motors)
  • Control of joint torque

• PID control of robot (notebook: torque_control.ipynb)

  • Reading the joint state
  • Determining the control action
  • Setting the required control torque

• Point-to-point tracking of end-effector (notebook: torque_control.ipynb)

  • Obtaining the required joint angles to reach the desired end-effector position
  • Simulating a PID position control loop to reach the desired end-effector position