Merge branch 'release/1.3.1'

softbankrobotics-research · Jan 24, 2020 · 52a7a11 · 52a7a11
2 parents 9c5e1b3 + c08472b
commit 52a7a11
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diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,7 @@
 *.pyc
+!**/meshes_installer*.pyc
 build/*
 dist/*
 qibullet.egg-info/*
+qibullet/robot_data/meshes/*
 .vscode/*
diff --git a/.travis.yml b/.travis.yml
@@ -12,14 +12,16 @@ language: python
 
 python:
   - "2.7"
-  - "3.4"
   - "3.5"
   - "3.6"
+  - "3.7"
+  - "3.8"
 
 install:
   - "pip install pybullet"
-  - "pip install numpy"
+  - "pip install numpy --upgrade"
   - "pip install codecov"
+  - "python setup.py develop --agree-license"
 
 script:
   - cd tests

diff --git a/README.md b/README.md
@@ -20,11 +20,17 @@ The following modules are required:
 * __numpy__
 * __pybullet__
 
-The __qiBullet__ module can be installed via pip, for python 2.7 and python 3:
+The qiBullet module can be installed via pip, for python 2.7 and python 3:
 ```bash
 pip install --user qibullet
 ```
 
+Additional ressources (robot meshes and URDFs) are required in order to be able to spawn a Pepper, NAO or Romeo robot in the simulation. These extra ressources 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 ressources will automatically be triggered if you try to spawn a Pepper, NAO or Romeo for the first time. If qiBullet finds the additional ressources in your local folder, the installation won't be triggered. The robot meshes are under a specific [license](https://github.com/ProtolabSBRE/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/ProtolabSBRE/qibullet/wiki).
+
 ## Usage
 A robot can be spawned via the SimulationManager class:
 ```python
@@ -65,7 +71,7 @@ Or using loadRobot from the PepperVirtual class if you already have a simulated
       physicsClientId=client_id)
 ```
 
-More snippets can be found in the [examples folder](https://github.com/ProtolabSBRE/qibullet/tree/master/examples), or in the repository [wiki](https://github.com/ProtolabSBRE/qibullet/wiki)
+More snippets can be found in the [examples folder](https://github.com/ProtolabSBRE/qibullet/tree/master/examples), or on the [wiki](https://github.com/ProtolabSBRE/qibullet/wiki)
 
 ## Documentation
 The qiBullet __API documentation__ can be found [here](https://protolabsbre.github.io/qibullet/api/). The documentation can be generated via the following command (the __doxygen__ package has to be installed beforehand, and the docs folder has to exist):

diff --git a/docs/Doxyfile b/docs/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "qiBullet"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.3.0
+PROJECT_NUMBER         = 1.3.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/docs/api/annotated.html b/docs/api/annotated.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classes.html b/docs/api/classes.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1Camera-members.html b/docs/api/classqibullet_1_1camera_1_1Camera-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1Camera.html b/docs/api/classqibullet_1_1camera_1_1Camera.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html b/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraDepth.html b/docs/api/classqibullet_1_1camera_1_1CameraDepth.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html b/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraResolution.html b/docs/api/classqibullet_1_1camera_1_1CameraResolution.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html b/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1camera_1_1CameraRgb.html b/docs/api/classqibullet_1_1camera_1_1CameraRgb.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1controller_1_1Controller-members.html b/docs/api/classqibullet_1_1controller_1_1Controller-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1controller_1_1Controller.html b/docs/api/classqibullet_1_1controller_1_1Controller.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>

diff --git a/docs/api/classqibullet_1_1joint_1_1Joint-members.html b/docs/api/classqibullet_1_1joint_1_1Joint-members.html
@@ -24,7 +24,7 @@
  <tr style="height: 56px;">
   <td id="projectalign" style="padding-left: 0.5em;">
    <div id="projectname">qiBullet
-   &#160;<span id="projectnumber">1.3.0</span>
+   &#160;<span id="projectnumber">1.3.1</span>
    </div>
    <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
   </td>
@@ -94,21 +94,22 @@
 
 <p>This is the complete list of members for <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>, including all inherited members.</p>
 <table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a62b295f99c418a0020a61de34fb16e17">__init__</a>(self, joint_info)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a39e26326adcffc8009d6c29367013d54">getIndex</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#ad2f86d463d3d5154c7f288228f045caf">getLowerLimit</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a10ce56f00a67a07c1cd9ddf2fb004832">getMaxEffort</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a3fb886c65bd53182023a068bb5a10692">getMaxVelocity</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a98835a9c3a48cd11bdf93c46aba87817">getName</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#ad2f06b3c98085d13a07dca8ab31433d0">getUpperLimit</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>index</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>lower_limit</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>max_effort</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>max_velocity</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>name</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#aa36c87df3ccddd29d3ef1fa34844da5a">setMaxEffort</a>(self, max_effort)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a717fa49e92d63cf1a1659840b169406e">setMaxVelocity</a>(self, max_velocity)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>upper_limit</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a4208412997da367888af8a6498cdd7b1">__eq__</a>(self, joint)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a62b295f99c418a0020a61de34fb16e17">__init__</a>(self, joint_info)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a39e26326adcffc8009d6c29367013d54">getIndex</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#ad2f86d463d3d5154c7f288228f045caf">getLowerLimit</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a10ce56f00a67a07c1cd9ddf2fb004832">getMaxEffort</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a3fb886c65bd53182023a068bb5a10692">getMaxVelocity</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a98835a9c3a48cd11bdf93c46aba87817">getName</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#ad2f06b3c98085d13a07dca8ab31433d0">getUpperLimit</a>(self)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>index</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>lower_limit</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>max_effort</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>max_velocity</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>name</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#aa36c87df3ccddd29d3ef1fa34844da5a">setMaxEffort</a>(self, max_effort)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html#a717fa49e92d63cf1a1659840b169406e">setMaxVelocity</a>(self, max_velocity)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>upper_limit</b> (defined in <a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a>)</td><td class="entry"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">qibullet.joint.Joint</a></td><td class="entry"></td></tr>
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