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softbankrobotics-research / qibullet

Bullet simulation for SoftBank Robotics robots
Apache License 2.0
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Pepper meshes/3d model #26

Closed amoldeshmukh18 closed 4 years ago

amoldeshmukh18 commented 4 years ago

Hi, I am trying to map Qibullet with another software for animation control, I need the exact measurements for Pepper. Is it possible to get a .bvh, or .dae, or .fbx format for 3d model for pepper? Also I tried to unzip meshes.zip but it asks for the password, are we allowed to get one from softbank? Please let me know, thanks Amol

mbusy commented 4 years ago

Hi, as specified in the README, the meshes cannot be installed manually, the installer will do that for you. To be able to install the meshes, you will have to agree to the license under which the meshes are published (see here). You can find additional information on that topic in the qiBullet wiki.

Can you give me more details about what you're trying to achieve ?

amoldeshmukh18 commented 4 years ago

Hi, I wanted to get the exact measurements for the joints as I am mapping the qibullet simulator with another animation controller s/w. I got them my physically measuring them, floor -> Hip: 70cm Hip -> Head (top): 50cm Hip -> RShoulder: 30cm floor -> Knee: 35cm RSHoulder -> RElbow: 20cm RElbow->RWrist: 15cm RWrist -> Tip of fingers: 10cm

Can I map the movements to Real Pepper from qibullet?

mbusy commented 4 years ago

If you want the distances between the different links of the Pepper robot (RElbow -> RWrist, etc.) you don't need the meshes, you only need the information provided by the Pepper URDF.

And yes, your can map the movements of a real Pepper robot onto a simulated one, take a look at the shadowing example

amoldeshmukh18 commented 4 years ago

Thanks, the Pepper UDRF file was not easy to decipher to get those measurements, so I used the old fashion measuring tape ;) I will take a look at shadowing example.