Metadata-Version: 1.1
Name: qibullet
Version: 0.0.5
Summary: Bullet-based simulation for SoftBank Robotics' robots
Home-page: https://github.com/ProtolabSBRE/qibullet
Author: Maxime Busy, Maxime Caniot
Author-email: UNKNOWN
License: UNKNOWN
Description: # qibullet ![Build Status](https://api.travis-ci.org/ProtolabSBRE/qibullet.svg?branch=master)
        
        __Bullet-based__ python simulation 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
        Please note that only the Pepper robot is currently handled by this module. A robot can be spawn via the SimulationManager class:
        ```python
        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)
        
            # Spawning a virtual Pepper robot, at the origin of the WORLD frame
            pepper = simulation_manager.spawnPepper(
                client_id,
                [0, 0, 0],
                [0, 0, 0, 1],
                spawn_ground_plane=True)
        ```
        
        Or via the PepperVirtual class:
        ```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], physicsClientId=physicsClient)
        ```
        
        More snippets can be found in the examples folder:
        * [A basic usage of the PepperVirtual class](examples/pepper_basic.py)
        * [Launch multiple simulation instances](examples/multi_simulation.py)
        * [A script using several simulation instances to compute the error on the joint positions](examples/pepper_joints_error.py)
        * [A basic usage of the PepperRosWrapper class (bridge between qibullet and ROS)](examples/pepper_ros_test.py)
        * [Script allowing a simulated model to mimic a real robot's movements](examples/pepper_shadowing.py)
        
        ## Documentation
        The documentation can be generated via the following command (the __epydoc__ Python package has to be installed beforehand):
        ```bash
        epydoc --html qibullet/ -o docs/ --name qibullet
        ```
        
        ## Troubleshooting
        
        ### OpenGL driver
        If you encounter the message:
        > Workaround for some crash in the Intel OpenGL driver on Linux/Ubuntu
        
        Your computer is using the Intel OpenGL driver. Go to __Software & Updates__, __Additional Drivers__, and select a driver corresponding to your GPU.
        
Keywords: physics simulation,robotics,naoqi,softbank,pepper,nao,romeo,robot
Platform: UNKNOWN
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3
Classifier: Intended Audience :: Science/Research
Classifier: Intended Audience :: Developers
Classifier: Operating System :: POSIX :: Linux
Classifier: Operating System :: MacOS
Classifier: Operating System :: Microsoft
Classifier: Topic :: Games/Entertainment :: Simulation
Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
Classifier: Framework :: Robot Framework :: Tool
