Metadata-Version: 2.1
Name: qibullet
Version: 0.0.2
Summary: Bullet simulation for SBR robots
Home-page: https://github.com/ProtolabSBRE/qibullet
Author: Maxime Busy, Maxime Caniot
Author-email: 
License: UNKNOWN
Description: # qibullet
        
        __Bullet-based__ python simulation interface for __SoftBank Robotics'__ robots.
        
        ## Installation
        
        The following modules are required:
        * __numpy__
        * __pybullet__
        
        The __qibullet__ module can be installed via pip, for python 2.7 and python 3:
        ```bash
        pip install --user qibullet
        ```
        
        ## Usage
        
        The following snippet demonstrates a simple use of the qibullet module:
        ```python
        import time
        import pybullet as p
        import pybullet_data
        from qibullet import PepperVirtual
        
        if __name__ == "__main__":
            physicsClient = p.connect(p.GUI)
            p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
            p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
            p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
            p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
        
            p.setRealTimeSimulation(1)
            p.setGravity(0, 0, -9.81)
        
            p.setAdditionalSearchPath(pybullet_data.getDataPath())
            p.loadMJCF("mjcf/ground_plane.xml")
        
            pepper = PepperVirtual()
            pepper.loadRobot([0, 0, 0], [0, 0, 0, 1])
        
            joint_parameters = list()
            pepper.subscribeCamera(PepperVirtual.ID_CAMERA_BOTTOM)
        
            # Retrieving an image that can be displayed via an imshow function from
            # openCV
            img = pepper.getCameraFrame()
        
            while True:
                # Setting joint angles
                pepper.setAngles("HeadYaw", 0, 1.0)
                time.sleep(0.2)
                pepper.setAngles("HeadPitch", 1, 0.6)
                time.sleep(0.2)
                pepper.setAngles(["HeadPitch", "HeadYaw"], [0, 1], 0.6)
        
                # Moving the robot's base
                pepper.moveTo(1, 1, 0, frame=PepperVirtual.FRAME_ROBOT)
                pepper.moveTo(-1, -1, 0, frame=PepperVirtual.FRAME_ROBOT)
        
                # Checking for self collisions
                pepper.isSelfColliding('l_wrist')
                pepper.isSelfColliding(["RForeArm", "LForeArm"])
        ```
        
        More examples can be found in the examples folder
        
        <!-- ![version](https://img.shields.io/badge/status-dev-orange.svg) -->
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Operating System :: POSIX :: Linux
Classifier: Operating System :: MacOS
Classifier: Operating System :: Microsoft
Description-Content-Type: text/markdown
