Merge branch 'release/1.3.0'

.gitignore

@@ -2,3 +2,4 @@
 build/*
 dist/*
 qibullet.egg-info/*
+.vscode/*

.travis.yml

@@ -1,20 +1,13 @@
-branches:
- only:
- - master
-
 notifications:
-  on_success: never
- on_failure: never
+ email:
+ if: branch = master
 
 os :
  - linux
 
 dist:
  - xenial
 
-# sudo:
-# - required
-
 language: python
 
 python:
@@ -26,8 +19,11 @@ python:
 install:
  - "pip install pybullet"
  - "pip install numpy"
- - "python setup.py install"
+ - "pip install codecov"
 
 script:
  - cd tests
- - python test_launcher.py
+ - coverage run test_launcher.py
+
+after_success:
+ - codecov

README.md

@@ -1,4 +1,4 @@
-# qiBullet [![Build Status](https://api.travis-ci.org/ProtolabSBRE/qibullet.svg?branch=master)](https://travis-ci.org/ProtolabSBRE/qibullet) [![pypi](https://img.shields.io/pypi/v/qibullet.svg)](https://pypi.org/project/qibullet/) [![Downloads](https://pepy.tech/badge/qibullet)](https://pepy.tech/project/qibullet) [![Gitter chat](https://badges.gitter.im/qibullet.png)](https://gitter.im/qibullet "Gitter chat")
+# qiBullet [![Build Status](https://api.travis-ci.org/ProtolabSBRE/qibullet.svg?branch=master)](https://travis-ci.org/ProtolabSBRE/qibullet) [![codecov](https://codecov.io/gh/ProtolabSBRE/qibullet/branch/master/graph/badge.svg)](https://codecov.io/gh/ProtolabSBRE/qibullet) [![pypi](https://img.shields.io/pypi/v/qibullet.svg)](https://pypi.org/project/qibullet/) [![Downloads](https://pepy.tech/badge/qibullet)](https://pepy.tech/project/qibullet) [![Gitter chat](https://badges.gitter.im/qibullet.png)](https://gitter.im/qibullet "Gitter chat")
 
 __Bullet-based__ python simulation for __SoftBank Robotics'__ robots.
 
@@ -37,18 +37,22 @@ if __name__ == "__main__":
  # 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, and a
- # ground plane
- pepper = simulation_manager.spawnPepper(
- client_id,
- translation=[0, 0, 0],
- quaternion=[0, 0, 0, 1],
- spawn_ground_plane=True)
-
- # Or a NAO robot, at a default position
- nao = simulation_manager.spawnNao(
- client_id,
- spawn_ground_plane=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)
 ```
 
 Or using loadRobot from the PepperVirtual class if you already have a simulated environment:

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 = 1.2.1
+PROJECT_NUMBER = 1.3.0
 
 # 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

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">1.2.1</span>
+ &#160;<span id="projectnumber">1.3.0</span>
  </div>
  <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
  </td>
@@ -122,11 +122,14 @@
 <tr id="row_0_11_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_11_" class="arrow" onclick="toggleFolder('0_11_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>romeo_virtual</b></td><td class="desc"></td></tr>
 <tr id="row_0_11_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html" target="_self">RomeoVirtual</a></td><td class="desc"></td></tr>
 <tr id="row_0_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_12_" class="arrow" onclick="toggleFolder('0_12_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>ros_wrapper</b></td><td class="desc"></td></tr>
-<tr id="row_0_12_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html" target="_self">PepperRosWrapper</a></td><td class="desc"></td></tr>
-<tr id="row_0_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_13_" class="arrow" onclick="toggleFolder('0_13_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>sensor</b></td><td class="desc"></td></tr>
-<tr id="row_0_13_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1sensor_1_1Sensor.html" target="_self">Sensor</a></td><td class="desc"></td></tr>
-<tr id="row_0_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_14_" class="arrow" onclick="toggleFolder('0_14_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>simulation_manager</b></td><td class="desc"></td></tr>
-<tr id="row_0_14_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1simulation__manager_1_1SimulationManager.html" target="_self">SimulationManager</a></td><td class="desc"></td></tr>
+<tr id="row_0_12_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html" target="_self">NaoRosWrapper</a></td><td class="desc"></td></tr>
+<tr id="row_0_12_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html" target="_self">PepperRosWrapper</a></td><td class="desc"></td></tr>
+<tr id="row_0_12_2_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html" target="_self">RomeoRosWrapper</a></td><td class="desc"></td></tr>
+<tr id="row_0_12_3_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1ros__wrapper_1_1RosWrapper.html" target="_self">RosWrapper</a></td><td class="desc"></td></tr>
+<tr id="row_0_13_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_13_" class="arrow" onclick="toggleFolder('0_13_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>sensor</b></td><td class="desc"></td></tr>
+<tr id="row_0_13_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1sensor_1_1Sensor.html" target="_self">Sensor</a></td><td class="desc"></td></tr>
+<tr id="row_0_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_14_" class="arrow" onclick="toggleFolder('0_14_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>simulation_manager</b></td><td class="desc"></td></tr>
+<tr id="row_0_14_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classqibullet_1_1simulation__manager_1_1SimulationManager.html" target="_self">SimulationManager</a></td><td class="desc"></td></tr>
 </table>
 </div><!-- directory -->
 </div><!-- contents -->

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">1.2.1</span>
+ &#160;<span id="projectnumber">1.3.0</span>
  </div>
  <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
  </td>
@@ -90,21 +90,24 @@
 <div class="qindex"><a class="qindex" href="#letter_B">B</a>&#160;|&#160;<a class="qindex" href="#letter_C">C</a>&#160;|&#160;<a class="qindex" href="#letter_J">J</a>&#160;|&#160;<a class="qindex" href="#letter_L">L</a>&#160;|&#160;<a class="qindex" href="#letter_N">N</a>&#160;|&#160;<a class="qindex" href="#letter_P">P</a>&#160;|&#160;<a class="qindex" href="#letter_R">R</a>&#160;|&#160;<a class="qindex" href="#letter_S">S</a></div>
 <table class="classindex">
 <tr><td rowspan="2" valign="bottom"><a name="letter_B"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;B&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraRgb.html">CameraRgb</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1link_1_1Link.html">Link</a> (qibullet.link)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1PepperPosture.html">PepperPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1RomeoPosture.html">RomeoPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1controller_1_1Controller.html">Controller</a> (qibullet.controller)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_N"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;N&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html">PepperRosWrapper</a> (qibullet.ros_wrapper)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html">RomeoVirtual</a> (qibullet.romeo_virtual)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1base__controller_1_1BaseController.html">BaseController</a> (qibullet.base_controller)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_J"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;J&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classqibullet_1_1pepper__virtual_1_1PepperVirtual.html">PepperVirtual</a> (qibullet.pepper_virtual)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_S"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;S&#160;&#160;</div></td></tr></table>
-</td></tr>
+</td><td valign="top"><a class="el" href="classqibullet_1_1controller_1_1Controller.html">Controller</a> (qibullet.controller)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html">NaoRosWrapper</a> (qibullet.ros_wrapper)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1RobotPosture.html">RobotPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1simulation__manager_1_1SimulationManager.html">SimulationManager</a> (qibullet.simulation_manager)&#160;&#160;&#160;</td></tr>
+<tr><td rowspan="2" valign="bottom"><a name="letter_J"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;J&#160;&#160;</div></td></tr></table>
+</td><td valign="top"><a class="el" href="classqibullet_1_1nao__virtual_1_1NaoVirtual.html">NaoVirtual</a> (qibullet.nao_virtual)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__virtual_1_1RobotVirtual.html">RobotVirtual</a> (qibullet.robot_virtual)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classqibullet_1_1base__controller_1_1BaseController.html">BaseController</a> (qibullet.base_controller)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_P"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;P&#160;&#160;</div></td></tr></table>
+</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1RomeoPosture.html">RomeoPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td></td></tr>
 <tr><td rowspan="2" valign="bottom"><a name="letter_C"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;C&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1NaoPosture.html">NaoPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_R"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;R&#160;&#160;</div></td></tr></table>
-</td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">Joint</a> (qibullet.joint)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1nao__virtual_1_1NaoVirtual.html">NaoVirtual</a> (qibullet.nao_virtual)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1sensor_1_1Sensor.html">Sensor</a> (qibullet.sensor)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1Camera.html">Camera</a> (qibullet.camera)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_L"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;L&#160;&#160;</div></td></tr></table>
-</td><td rowspan="2" valign="bottom"><a name="letter_P"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;P&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classqibullet_1_1robot__module_1_1RobotModule.html">RobotModule</a> (qibullet.robot_module)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1simulation__manager_1_1SimulationManager.html">SimulationManager</a> (qibullet.simulation_manager)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraDepth.html">CameraDepth</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1RobotPosture.html">RobotPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td></td></tr>
-<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraResolution.html">CameraResolution</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1laser_1_1Laser.html">Laser</a> (qibullet.laser)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1base__controller_1_1PepperBaseController.html">PepperBaseController</a> (qibullet.base_controller)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__virtual_1_1RobotVirtual.html">RobotVirtual</a> (qibullet.robot_virtual)&#160;&#160;&#160;</td><td></td></tr>
+</td><td valign="top"><a class="el" href="classqibullet_1_1joint_1_1Joint.html">Joint</a> (qibullet.joint)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html">RomeoRosWrapper</a> (qibullet.ros_wrapper)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td rowspan="2" valign="bottom"><a name="letter_L"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;L&#160;&#160;</div></td></tr></table>
+</td><td valign="top"><a class="el" href="classqibullet_1_1base__controller_1_1PepperBaseController.html">PepperBaseController</a> (qibullet.base_controller)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html">RomeoVirtual</a> (qibullet.romeo_virtual)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1Camera.html">Camera</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1PepperPosture.html">PepperPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1ros__wrapper_1_1RosWrapper.html">RosWrapper</a> (qibullet.ros_wrapper)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraDepth.html">CameraDepth</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1laser_1_1Laser.html">Laser</a> (qibullet.laser)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html">PepperRosWrapper</a> (qibullet.ros_wrapper)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_S"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;S&#160;&#160;</div></td></tr></table>
+</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraResolution.html">CameraResolution</a> (qibullet.camera)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1link_1_1Link.html">Link</a> (qibullet.link)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1pepper__virtual_1_1PepperVirtual.html">PepperVirtual</a> (qibullet.pepper_virtual)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td valign="top"><a class="el" href="classqibullet_1_1camera_1_1CameraRgb.html">CameraRgb</a> (qibullet.camera)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_N"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;N&#160;&#160;</div></td></tr></table>
+</td><td rowspan="2" valign="bottom"><a name="letter_R"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;R&#160;&#160;</div></td></tr></table>
+</td><td valign="top"><a class="el" href="classqibullet_1_1sensor_1_1Sensor.html">Sensor</a> (qibullet.sensor)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td></td><td></td><td></td></tr>
+<tr><td></td><td valign="top"><a class="el" href="classqibullet_1_1robot__posture_1_1NaoPosture.html">NaoPosture</a> (qibullet.robot_posture)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classqibullet_1_1robot__module_1_1RobotModule.html">RobotModule</a> (qibullet.robot_module)&#160;&#160;&#160;</td><td></td><td></td></tr>
 <tr><td></td><td></td><td></td><td></td><td></td></tr>
 </table>
 <div class="qindex"><a class="qindex" href="#letter_B">B</a>&#160;|&#160;<a class="qindex" href="#letter_C">C</a>&#160;|&#160;<a class="qindex" href="#letter_J">J</a>&#160;|&#160;<a class="qindex" href="#letter_L">L</a>&#160;|&#160;<a class="qindex" href="#letter_N">N</a>&#160;|&#160;<a class="qindex" href="#letter_P">P</a>&#160;|&#160;<a class="qindex" href="#letter_R">R</a>&#160;|&#160;<a class="qindex" href="#letter_S">S</a></div>

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">1.2.1</span>
+ &#160;<span id="projectnumber">1.3.0</span>
  </div>
  <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
  </td>

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">1.2.1</span>
+ &#160;<span id="projectnumber">1.3.0</span>
  </div>
  <div id="projectbrief">Bullet-based python simulation for SoftBank Robotics&#39; robots.</div>
  </td>