qibullet 0.0.3

Bullet simulation for SBR robots

# 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.

## 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.

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