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|
%global _empty_manifest_terminate_build 0
Name: python-qibullet
Version: 1.4.6
Release: 1
Summary: Bullet-based simulation for SoftBank Robotics' robots
License: Apache Software License
URL: https://github.com/softbankrobotics-research/qibullet
Source0: https://mirrors.aliyun.com/pypi/web/packages/21/db/d0682eaf0833952681cbfec89f2b86e2bab5d3efcafec15fb354e7048844/qibullet-1.4.6.tar.gz
BuildArch: noarch
Requires: python3-numpy
Requires: python3-pybullet
%description
# qiBullet [](https://github.com/softbankrobotics-research/qibullet/actions?query=workflow%3Aci) [](https://codecov.io/gh/softbankrobotics-research/qibullet) [](https://pypi.org/project/qibullet/) [](https://pepy.tech/project/qibullet) [](https://github.com/softbankrobotics-research/qibullet/discussions) [](https://softbankrobotics-research.github.io/qibullet/)
__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
```
Additional resources (robot meshes and URDFs) are required in order to be able to spawn a Pepper, NAO or Romeo robot in the simulation. These extra resources will be installed in your home folder:
* `/home/username/.qibullet` on Linux and macOS
* `C:\Users\username\.qibullet` on Windows
The installation of the additional resources will automatically be triggered if you try to spawn a Pepper, NAO or Romeo for the first time. If qiBullet finds the additional resources in your local folder, the installation won't be triggered. The robot meshes are under a specific [license](https://github.com/softbankrobotics-research/qibullet/tree/master/qibullet/robot_data/LICENSE), you will need to agree to that license in order to install them. More details on the installation process can be found on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki).
## Usage
A robot can be spawned via the SimulationManager class:
```python
import sys
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)
# Selection of the robot type to spawn (True : Pepper, False : NAO)
pepper_robot = True
if pepper_robot:
# Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
# ground plane
pepper = simulation_manager.spawnPepper(
client_id,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=True)
else:
# Or a NAO robot, at a default position
nao = simulation_manager.spawnNao(
client_id,
spawn_ground_plane=True)
# This snippet is a blocking call, just to keep the simulation opened
if sys.version_info[0] >= 3:
input("Press a key to end the simulation")
else:
raw_input("Press a key to end the simulation")
# Stop the simulation
simulation_manager.stopSimulation(client_id)
```
Or using loadRobot from the PepperVirtual class if you already have a simulated environment:
```python
pepper = PepperVirtual()
pepper.loadRobot(
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
physicsClientId=client_id)
```
More snippets can be found in the [examples folder](https://github.com/softbankrobotics-research/qibullet/tree/master/examples), or on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki)
> :warning: The camera subscription system of qiBullet 1.4.0 (and lesser) is __deprecated__, use the [new system](https://github.com/softbankrobotics-research/qibullet/wiki/Tutorials:-Virtual-Robot#cameras)
## Documentation
The qiBullet __API documentation__ can be found [here](https://softbankrobotics-research.github.io/qibullet/). In order to build the documentation, the __doxygen__ package has to be installed beforehand and the docs folder has to exist. The submodules should also be checked out:
```bash
git submodule init
git submodule update
```
The documentation can then be generated via the following command:
```bash
cd docs
doxygen Doxyfile
```
The repository also contains a [wiki](https://github.com/softbankrobotics-research/qibullet/wiki), providing some tutorials.
## Citations
Please cite qiBullet if you use this repository in your publications:
```
@article{busy2019qibullet,
title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
author={Busy, Maxime and Caniot, Maxime},
journal={arXiv preprint arXiv:1909.00779},
year={2019}
}
```
## 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.
## License
Licensed under the [Apache-2.0 License](LICENSE)
%package -n python3-qibullet
Summary: Bullet-based simulation for SoftBank Robotics' robots
Provides: python-qibullet
BuildRequires: python3-devel
BuildRequires: python3-setuptools
BuildRequires: python3-pip
%description -n python3-qibullet
# qiBullet [](https://github.com/softbankrobotics-research/qibullet/actions?query=workflow%3Aci) [](https://codecov.io/gh/softbankrobotics-research/qibullet) [](https://pypi.org/project/qibullet/) [](https://pepy.tech/project/qibullet) [](https://github.com/softbankrobotics-research/qibullet/discussions) [](https://softbankrobotics-research.github.io/qibullet/)
__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
```
Additional resources (robot meshes and URDFs) are required in order to be able to spawn a Pepper, NAO or Romeo robot in the simulation. These extra resources will be installed in your home folder:
* `/home/username/.qibullet` on Linux and macOS
* `C:\Users\username\.qibullet` on Windows
The installation of the additional resources will automatically be triggered if you try to spawn a Pepper, NAO or Romeo for the first time. If qiBullet finds the additional resources in your local folder, the installation won't be triggered. The robot meshes are under a specific [license](https://github.com/softbankrobotics-research/qibullet/tree/master/qibullet/robot_data/LICENSE), you will need to agree to that license in order to install them. More details on the installation process can be found on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki).
## Usage
A robot can be spawned via the SimulationManager class:
```python
import sys
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)
# Selection of the robot type to spawn (True : Pepper, False : NAO)
pepper_robot = True
if pepper_robot:
# Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
# ground plane
pepper = simulation_manager.spawnPepper(
client_id,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=True)
else:
# Or a NAO robot, at a default position
nao = simulation_manager.spawnNao(
client_id,
spawn_ground_plane=True)
# This snippet is a blocking call, just to keep the simulation opened
if sys.version_info[0] >= 3:
input("Press a key to end the simulation")
else:
raw_input("Press a key to end the simulation")
# Stop the simulation
simulation_manager.stopSimulation(client_id)
```
Or using loadRobot from the PepperVirtual class if you already have a simulated environment:
```python
pepper = PepperVirtual()
pepper.loadRobot(
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
physicsClientId=client_id)
```
More snippets can be found in the [examples folder](https://github.com/softbankrobotics-research/qibullet/tree/master/examples), or on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki)
> :warning: The camera subscription system of qiBullet 1.4.0 (and lesser) is __deprecated__, use the [new system](https://github.com/softbankrobotics-research/qibullet/wiki/Tutorials:-Virtual-Robot#cameras)
## Documentation
The qiBullet __API documentation__ can be found [here](https://softbankrobotics-research.github.io/qibullet/). In order to build the documentation, the __doxygen__ package has to be installed beforehand and the docs folder has to exist. The submodules should also be checked out:
```bash
git submodule init
git submodule update
```
The documentation can then be generated via the following command:
```bash
cd docs
doxygen Doxyfile
```
The repository also contains a [wiki](https://github.com/softbankrobotics-research/qibullet/wiki), providing some tutorials.
## Citations
Please cite qiBullet if you use this repository in your publications:
```
@article{busy2019qibullet,
title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
author={Busy, Maxime and Caniot, Maxime},
journal={arXiv preprint arXiv:1909.00779},
year={2019}
}
```
## 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.
## License
Licensed under the [Apache-2.0 License](LICENSE)
%package help
Summary: Development documents and examples for qibullet
Provides: python3-qibullet-doc
%description help
# qiBullet [](https://github.com/softbankrobotics-research/qibullet/actions?query=workflow%3Aci) [](https://codecov.io/gh/softbankrobotics-research/qibullet) [](https://pypi.org/project/qibullet/) [](https://pepy.tech/project/qibullet) [](https://github.com/softbankrobotics-research/qibullet/discussions) [](https://softbankrobotics-research.github.io/qibullet/)
__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
```
Additional resources (robot meshes and URDFs) are required in order to be able to spawn a Pepper, NAO or Romeo robot in the simulation. These extra resources will be installed in your home folder:
* `/home/username/.qibullet` on Linux and macOS
* `C:\Users\username\.qibullet` on Windows
The installation of the additional resources will automatically be triggered if you try to spawn a Pepper, NAO or Romeo for the first time. If qiBullet finds the additional resources in your local folder, the installation won't be triggered. The robot meshes are under a specific [license](https://github.com/softbankrobotics-research/qibullet/tree/master/qibullet/robot_data/LICENSE), you will need to agree to that license in order to install them. More details on the installation process can be found on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki).
## Usage
A robot can be spawned via the SimulationManager class:
```python
import sys
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)
# Selection of the robot type to spawn (True : Pepper, False : NAO)
pepper_robot = True
if pepper_robot:
# Spawning a virtual Pepper robot, at the origin of the WORLD frame, and a
# ground plane
pepper = simulation_manager.spawnPepper(
client_id,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=True)
else:
# Or a NAO robot, at a default position
nao = simulation_manager.spawnNao(
client_id,
spawn_ground_plane=True)
# This snippet is a blocking call, just to keep the simulation opened
if sys.version_info[0] >= 3:
input("Press a key to end the simulation")
else:
raw_input("Press a key to end the simulation")
# Stop the simulation
simulation_manager.stopSimulation(client_id)
```
Or using loadRobot from the PepperVirtual class if you already have a simulated environment:
```python
pepper = PepperVirtual()
pepper.loadRobot(
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
physicsClientId=client_id)
```
More snippets can be found in the [examples folder](https://github.com/softbankrobotics-research/qibullet/tree/master/examples), or on the [wiki](https://github.com/softbankrobotics-research/qibullet/wiki)
> :warning: The camera subscription system of qiBullet 1.4.0 (and lesser) is __deprecated__, use the [new system](https://github.com/softbankrobotics-research/qibullet/wiki/Tutorials:-Virtual-Robot#cameras)
## Documentation
The qiBullet __API documentation__ can be found [here](https://softbankrobotics-research.github.io/qibullet/). In order to build the documentation, the __doxygen__ package has to be installed beforehand and the docs folder has to exist. The submodules should also be checked out:
```bash
git submodule init
git submodule update
```
The documentation can then be generated via the following command:
```bash
cd docs
doxygen Doxyfile
```
The repository also contains a [wiki](https://github.com/softbankrobotics-research/qibullet/wiki), providing some tutorials.
## Citations
Please cite qiBullet if you use this repository in your publications:
```
@article{busy2019qibullet,
title={qiBullet, a Bullet-based simulator for the Pepper and NAO robots},
author={Busy, Maxime and Caniot, Maxime},
journal={arXiv preprint arXiv:1909.00779},
year={2019}
}
```
## 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.
## License
Licensed under the [Apache-2.0 License](LICENSE)
%prep
%autosetup -n qibullet-1.4.6
%build
%py3_build
%install
%py3_install
install -d -m755 %{buildroot}/%{_pkgdocdir}
if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi
if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi
if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi
if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi
pushd %{buildroot}
if [ -d usr/lib ]; then
find usr/lib -type f -printf "\"/%h/%f\"\n" >> filelist.lst
fi
if [ -d usr/lib64 ]; then
find usr/lib64 -type f -printf "\"/%h/%f\"\n" >> filelist.lst
fi
if [ -d usr/bin ]; then
find usr/bin -type f -printf "\"/%h/%f\"\n" >> filelist.lst
fi
if [ -d usr/sbin ]; then
find usr/sbin -type f -printf "\"/%h/%f\"\n" >> filelist.lst
fi
touch doclist.lst
if [ -d usr/share/man ]; then
find usr/share/man -type f -printf "\"/%h/%f.gz\"\n" >> doclist.lst
fi
popd
mv %{buildroot}/filelist.lst .
mv %{buildroot}/doclist.lst .
%files -n python3-qibullet -f filelist.lst
%dir %{python3_sitelib}/*
%files help -f doclist.lst
%{_docdir}/*
%changelog
* Tue Jun 20 2023 Python_Bot <Python_Bot@openeuler.org> - 1.4.6-1
- Package Spec generated
|
