qiBullet

https://softbankrobotics-research.github.io/qibullet/
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qiBullet is a Bullet-based Python simulation environment designed for SoftBank Robotics' robots,...
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### subscribe(resolution, fps=30.0)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Subscribes to the camera and starts the frame extraction loop in a separate thread.

```APIDOC
## subscribe(resolution, fps=30.0)

### Description
Subscribing method for the camera (the FOV has to be specified beforehand). This method will launch the frame extraction loop process of the camera in a separate thread. This method will return a camera handle, needed to retrieve camera frames, get the camera resolution, etc. and unsubscribe from it.

### Method
`subscribe(resolution, fps=30.0)`

### Parameters
- **resolution** - The resolution of the camera.
- **fps** (float) - The number of frames per second requested for the video source (strictly positive float or int). Default is 30.0.

### Returns
- **handle** - The handle of the camera.
- **fps** - The number of frames per second requested for the video source.
```

--------------------------------

### Doxygen graph example: C++ class hierarchy

Source: https://softbankrobotics-research.github.io/qibullet/graph_legend.html

Example C++ classes used to illustrate Doxygen graph generation. The graph shows public, protected, and private inheritance, template instantiation, and a usage relation via the m_usedClass member.

```cpp
/*! Invisible class because of truncation */
class Invisible { };
/*! Truncated class, inheritance relation is hidden */
class Truncated : public Invisible { };
/* Class not documented with doxygen comments */
class Undocumented { };
/*! Class that is inherited using public inheritance */
class PublicBase : public Truncated { };
/*! A template class */
template<class T> class Templ { };
/*! Class that is inherited using protected inheritance */
class ProtectedBase { };
/*! Class that is inherited using private inheritance */
class PrivateBase { };
/*! Class that is used by the Inherited class */
class Used { };
/*! Super class that inherits a number of other classes */
class Inherited : public PublicBase,
protected ProtectedBase,
private PrivateBase,
public Undocumented,
public Templ<int>
{
private:
Used *m_usedClass;
};
```

--------------------------------

### getAnglesPosition(joint_names)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html

Overloads getAnglesPosition from the RobotVirtual class. Handles the finger mimicked position for the hands, returning the hand's opening percentage when getting the position of RHand or LHand.

```APIDOC
## getAnglesPosition(joint_names)

### Description
Overloads getAnglesPosition from the RobotVirtual class. Handles the finger mimicked position for the hands (when getting the position of RHand or LHand, will return the hand's opening percentage).

### Method
Function call

### Parameters
- **joint_names** (List of string or string) - Required - List of string (or string if only one joint) containing the name of the joints

### Returns
- **joint_positions** (List of float or float) - List of float (or float if only one joint) containing the joint's positions in radians

```

--------------------------------

### launchSimulation(gui=True, use_shared_memory=False, auto_step=True)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Launches a simulation instance with configurable GUI, shared memory, and auto-stepping options. Returns the physics client ID.

```APIDOC
## launchSimulation(gui=True, use_shared_memory=False, auto_step=True)

### Description
Launches a simulation instance with configurable GUI, shared memory, and auto-stepping options.

### Method
N/A (Python method)

### Endpoint
N/A

### Parameters
- **gui** (bool) - Optional - If True, the simulation is launched with a GUI; otherwise, without a GUI. Default is True.
- **use_shared_memory** (bool) - Optional - Experimental feature, only taken into account if gui=False. If True, uses pybullet SHARED_MEMORY_SERVER mode. Default is False.
- **auto_step** (bool) - Optional - Only taken into account if gui=False and use_shared_memory=False. If True, the simulation is automatically stepped; otherwise, the user must call stepSimulation. Default is True.

### Returns
- **physics_client** (int) - The id of the simulation client created.

### Example
```python
# Launch a simulation with GUI
physics_client = simulation_manager.launchSimulation()

# Launch a headless simulation with auto-stepping disabled
physics_client = simulation_manager.launchSimulation(gui=False, auto_step=False)
```
```

--------------------------------

### def __init__(self, posture_name)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1NaoPosture.html

Constructor for NaoPosture. It takes a posture name and deduces the joint names and joint angles.

```APIDOC
## def __init__(self, posture_name)

### Description
Constructor for NaoPosture. It takes a posture name and deduces the joint names and joint angles.

### Parameters
- **posture_name** (str) - Required - The name of the posture.

### Returns
None

```

--------------------------------

### RobotPosture.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1RobotPosture.html

Constructor for the RobotPosture class. Initializes a posture with a given name.

```APIDOC
## __init__(self, posture_name)

### Description
Constructor for the RobotPosture class. Initializes a posture with the given name.

### Parameters
- **posture_name** (str) - Required - The name of the posture.

### Returns
None

### Notes
Reimplemented in PepperPosture, NaoPosture, and RomeoPosture.
```

--------------------------------

### PepperVirtual.__init__()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html

Constructor for the PepperVirtual class. Initializes a new virtual instance of the Pepper robot.

```APIDOC
## PepperVirtual.__init__()

### Description
Constructor for the PepperVirtual class. Initializes a new virtual instance of the Pepper robot.

### Method
Constructor

### Signature
python
def __init__(self)


### Parameters
None

### Returns
None

```

--------------------------------

### PepperPosture.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1PepperPosture.html

Constructor for the PepperPosture class. Initializes a posture with a given name, deducing joint names and joint angles.

```APIDOC
## PepperPosture.__init__

### Description
Constructor for the PepperPosture class. Initializes a posture with a given name, deducing joint names and joint angles.

### Method
Constructor

### Signature
```python
def __init__(self, posture_name)
```

### Parameters
- **posture_name** (str) - Required - The name of the posture. The joint_names and joint_angles will be deduced from this name.

### Notes
Reimplemented from RobotPosture.
```

--------------------------------

### __init__(joint_info)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Constructor for the Joint class, initializing a joint with information from the getJointInfo API.

```APIDOC
## __init__(joint_info)

### Description
Constructor for the Joint class.

### Parameters
- **joint_info** - Informations returned by the getJointInfo API

### Returns
None

```

--------------------------------

### stepSimulation()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Steps the simulated instance corresponding to the physics_client id.

```APIDOC
## stepSimulation()

### Description
Steps the simulated instance corresponding to the physics_client id.

### Method
stepSimulation

### Parameters
- **physics_client** (int) - Required - The id of the simulated instance to be stepped.
```

--------------------------------

### Laser.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1laser_1_1Laser.html

Constructor for the Laser class. Initializes the laser with the robot model, laser link ID, frequency, display flag, and physics client ID.

```APIDOC
## Laser.__init__

### Description
Constructor for the Laser class. Initializes the laser with the robot model, laser link ID, frequency, display flag, and physics client ID.

### Method
Constructor

### Parameters
- **robot_model** - The pybullet model of the robot.
- **laser_id** - The id of the link (Link type) onto which the Lasers' are attached.
- **frequency** (optional) - The update frequency of the laser in Hz (default frequency set to 6.25 Hz).
- **display** (optional) - Boolean that allows the display of the laser.
- **physicsClientId** (optional) - The id of the simulated instance in which the lasers are to be spawned.

### Returns
None
```

--------------------------------

### goToPosture()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html

Positions the virtual robot into a particular posture. The available postures are PepperPosture objects.

```APIDOC
## goToPosture()

### Description
Positions the virtual robot into a particular posture. The available postures are PepperPosture objects.

### Method
N/A (Python method)

### Parameters
- **posture_name** (String) - Required - Name of the posture (case-insensitive). Available: Stand, StandInit, StandZero, Crouch.
- **percentage_speed** (Float) - Required - Percentage of max speed to use for the movement.

### Returns
- **Boolean** - True if the posture can be applied, False otherwise.
```

--------------------------------

### BaseController.__init__(robot_model, physicsClientId=0)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1base__controller_1_1BaseController.html

Constructor for the BaseController class. Initializes the controller with the robot model and the physics client ID.

```APIDOC
## BaseController.__init__(robot_model, physicsClientId=0)

### Description
Constructor for the BaseController class. Initializes the controller with the robot model and the physics client ID.

### Method
Constructor

### Parameters
- **robot_model** - The pybullet model of the robot.
- **physicsClientId** (int, optional) - The id of the simulated instance in which the robot will be controlled. Defaults to 0.

### Returns
None
```

--------------------------------

### goToPosture(posture_name, percentage_speed)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1nao__virtual_1_1NaoVirtual.html

Moves the virtual robot to a specified posture at a given speed percentage.

```APIDOC
## goToPosture(posture_name, percentage_speed)

### Description
Positions the virtual robot into a particular posture. The different available postures are NaoPosture objects.

### Method
Function call

### Parameters
- **posture_name** (string) - Required - String containing the name of the posture. The posture name is not case-sensitive
- **percentage_speed** (float) - Required - Percentage of the max speed to be used for the movement

### Returns
- **Boolean** - True if the posture can be applied, False otherwise
```

--------------------------------

### setLightPosition(physics_client, light_position)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Sets the position of the GUI's light in a simulated instance.

```APIDOC
## setLightPosition(physics_client, light_position)

### Description
Sets the position of the GUI's light (does not work in DIRECT mode).

### Parameters
- **physics_client** - The id of the simulated instance.
- **light_position** - List containing the 3D positions [x, y, z] along the X, Y, and Z axis in the world frame, in meters.

```

--------------------------------

### spawnNao()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Loads a NAO model in the simulation. Returns a NaoVirtual object representing the simulated NAO.

```APIDOC
## spawnNao()

### Description
Loads a NAO model in the simulation.

### Method
spawnNao

### Parameters
- **physics_client** (int) - Required - The id of the simulated instance in which the robot is supposed to be spawned.
- **translation** (list) - Optional - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame. Default: [0, 0, 0].
- **quaternion** (list) - Optional - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame. Default: [0, 0, 0, 1].
- **spawn_ground_plane** (bool) - Optional - If True, the pybullet_data ground plane will be spawned. Default: False.

### Returns
- **nao_virtual** (NaoVirtual) - A NaoVirtual object, the NAO simulated instance.
```

--------------------------------

### Camera.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Constructor for the Camera class. Initializes a virtual camera with the specified robot model, camera ID, link, field of view, physics client ID, and near/far planes.

```APIDOC
## Camera.__init__

### Description
Constructor for the Camera class. Initializes a virtual camera with the specified robot model, camera ID, link, field of view, physics client ID, and near/far planes.

### Method
Constructor

### Parameters
- **robot_model** - The pybullet model of the robot
- **camera_id** - An int describing the id of the camera
- **camera_link** - The link (Link type) onto which the camera's attached
- **hfov** - The value of the horizontal field of view angle (in degrees)
- **vfov** - The value of the vertical field of view angle (in degrees)
- **physicsClientId** (int, default `0`) - The id of the simulated instance in which the camera is to be spawned
- **near_plane** (float, default `0.01`) - The near plane distance
- **far_plane** (float, default `100`) - The far plane distance

### Notes
Reimplemented from Sensor. Reimplemented in CameraRgb, and CameraDepth.
```

--------------------------------

### Link.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1link_1_1Link.html

Constructor for the Link class. Initializes a Link object with information from the getJointInfo API.

```APIDOC
## Link.__init__

### Description
Constructor for the Link class. Initializes a Link object with information from the getJointInfo API.

### Method
__init__

### Parameters
- **joint_info** - Informations returned by the getJointInfo API.

### Returns
None

```

--------------------------------

### def subscribe(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1imu_1_1Imu.html

Subscribe to the IMU, activating the IMU scan process.

```APIDOC
## subscribe(self)

### Description
Subscribe to the IMU, activating the IMU scan process.

### Inherited From
Sensor (reimplemented)
```

--------------------------------

### launchWrapper()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1ros__wrapper_1_1RosWrapper.html

Launches the ROS wrapper with the given virtual robot, ROS namespace, and frequency. The frequency defaults to 200 Hz.

```APIDOC
## launchWrapper()

### Description
Launches the ROS wrapper.

### Method
launchWrapper

### Signature
`def launchWrapper(self, virtual_robot, ros_namespace, frequency=200)`

### Parameters
- **virtual_robot** - The instance of the simulated model.
- **ros_namespace** - The ROS namespace to be added before the ROS topics advertised and subscribed.
- **frequency** (int, optional) - The frequency of the ROS rate used to pace the wrapper's main loop. Default is 200.

### Notes
Reimplemented in NaoRosWrapper, PepperRosWrapper, and RomeoRosWrapper.
```

--------------------------------

### __init__(self, fsr_dict)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1fsr_1_1FsrHandler.html

Constructor for the FsrHandler class. Initializes the handler with a dictionary of FSR sensors.

```APIDOC
## __init__(self, fsr_dict)

### Description
Constructor. The fsr sensors are passed to the handler through the fsr_dict, with the following structure: {'fsr_name': Fsr, ...}. fsr_name being the name of the fsr (string, for instance NaoFsr.LFOOT_FL or "LFsrFL_frame"), and Fsr being the associated object.

### Parameters
- **fsr_dict** (dict) - Required - Dict containing the FSRs of the robot

### Returns
None
```

--------------------------------

### def __init__(self, robot_model, imu_link, frequency, physicsClientId=0)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1imu_1_1Imu.html

Constructor for the Imu class. Initializes the IMU with the given robot model, link, frequency, and physics client id. Raises a pybullet error if frequency is not a strictly positive int or float.

```APIDOC
## __init__(self, robot_model, imu_link, frequency, physicsClientId=0)

### Description
Constructor. If the specified frequency is not a strictly positive int or float, the constructor will raise a pybullet error.

### Parameters
- **robot_model** - The pybullet model of the robot
- **imu_link** - The Link object corresponding to the link the IMU is attached to
- **frequency** - The frequency of the IMU, in Hz
- **physicsClientId** (optional, default: 0) - The id of the simulated instance in which the IMU should be spawned

### Inherited From
Sensor
```

--------------------------------

### spawnPepper()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Loads a Pepper model in the simulation. Returns a PepperVirtual object representing the simulated Pepper.

```APIDOC
## spawnPepper()

### Description
Loads a Pepper model in the simulation.

### Method
spawnPepper

### Parameters
- **physics_client** (int) - Required - The id of the simulated instance in which the robot is supposed to be spawned.
- **translation** (list) - Optional - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame. Default: [0, 0, 0].
- **quaternion** (list) - Optional - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame. Default: [0, 0, 0, 1].
- **spawn_ground_plane** (bool) - Optional - If True, the pybullet_data ground plane will be spawned. Default: False.

### Returns
- **pepper_virtual** (PepperVirtual) - A PepperVirtual object, the Pepper simulated instance.
```

--------------------------------

### move()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html

Applies a speed on the robot's base.

```APIDOC
## move()

### Description
Applies a speed on the robot's base.

### Method
N/A (Python method)

### Parameters
- **x** (float) - Required - Speed on the x axis, in m/s.
- **y** (float) - Required - Speed on the y axis, in m/s.
- **theta** (float) - Required - Rotational speed around the z axis, in rad/s.

### Returns
None
```

--------------------------------

### spawnRomeo()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Loads a Romeo model in the simulation with specified translation, quaternion, and optional ground plane.

```APIDOC
## spawnRomeo()

### Description
Loads a Romeo model in the simulation.

### Method
spawnRomeo

### Parameters
- **physics_client** (int) - Required - The id of the simulated instance in which the robot is supposed to be spawned.
- **translation** (list) - Optional - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame. Default: `[0, 0, 0]`.
- **quaternion** (list) - Optional - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame. Default: `[0, 0, 0, 1]`.
- **spawn_ground_plane** (bool) - Optional - If True, the pybullet_data ground plane will be spawned. Default: `False`.

### Returns
- **romeo_virtual** - A RomeoVirtual object, the Romeo simulated instance.
```

--------------------------------

### loadRobot()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html

Loads the robot into the simulated instance. Overloads @loadRobot from the @RobotVirtual class. Updates max velocity of fingers, adds self collision filters, motion constraint, and defines cameras in camera_dict.

```APIDOC
## loadRobot()

### Description
Loads the robot into the simulated instance. Overloads @loadRobot from the @RobotVirtual class. Updates max velocity of fingers, adds self collision filters, motion constraint, and defines cameras in camera_dict.

### Method
N/A (Python method)

### Parameters
- **translation** (List) - Required - List of 3 elements: [x, y, z] translation in WORLD frame.
- **quaternion** (List) - Required - List of 4 elements: [x, y, z, q] quaternion in WORLD frame.
- **physicsClientId** (int) - Optional - ID of the simulated instance. Default is 0.

### Returns
None
```

--------------------------------

### moveTo(x, y, theta, frame, _async=False)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1base__controller_1_1PepperBaseController.html

Moves the robot to a specified goal position and orientation in either the world or robot frame. Supports both synchronous and asynchronous execution, with the ability to update the goal in async mode.

```APIDOC
## moveTo(x, y, theta, frame, _async=False)

### Description
Move the robot in frame world or robot (FRAME_WORLD=1, FRAME_ROBOT=2). This method can be called synchronously or asynchronously. In the asynchronous mode, the function can be called when it's already launched, this will update the goal of the motion.

### Parameters
- **x** (float) - Required - Position of the goal on the x axis, in meters
- **y** (float) - Required - Position of the goal on the y axis, in meters
- **theta** (float) - Required - Orientation of the goal around the z axis, in radians
- **frame** (int) - Required - The frame in which the goal is expressed: FRAME_WORLD = 1, FRAME_ROBOT = 2
- **_async** (bool) - Optional - The method is launched in async mode if True, in synch mode if False (False by default)

```

--------------------------------

### def getPostureName(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1NaoPosture.html

Returns the name of the posture.

```APIDOC
## def getPostureName(self)

### Description
Returns the name of the posture.

### Parameters
None

### Returns
- **str** - The posture name.

```

--------------------------------

### PepperPosture.getPostureName

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1PepperPosture.html

Returns the name of the posture.

```APIDOC
## PepperPosture.getPostureName

### Description
Returns the name of the posture.

### Method
Method

### Signature
```python
def getPostureName(self)
```

### Returns
- **posture_name** (str) - The name of the posture.
```

--------------------------------

### launchWrapper()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html

Launches the ROS wrapper for the virtual_pepper instance. This method is reimplemented from RosWrapper.

```APIDOC
## launchWrapper()

### Description
Launches the ROS wrapper for the virtual_pepper instance.

### Method
launchWrapper

### Parameters
- **virtual_pepper** - The instance of the simulated model
- **ros_namespace** - The ROS namespace to be added before the ROS topics advertized and subscribed
- **frequency** (default: `200`) - The frequency of the ROS rate that will be used to pace the wrapper's main loop

### Notes
Reimplemented from RosWrapper.
```

--------------------------------

### getResolution()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Returns the resolution of the camera.

```APIDOC
## getResolution()

### Description
Returns the resolution of the camera.

### Method
`getResolution()`

### Parameters
None

### Returns
- **resolution** - A CameraResolution object, the resolution of the camera.
```

--------------------------------

### setGravity(physics_client, gravity)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Sets the gravity vector for a simulated instance.

```APIDOC
## setGravity(physics_client, gravity)

### Description
Sets the gravity for a simulated instance. By default (when spawning a simulated instance) the gravity is set to [0.0, 0.0, -9.81].

### Parameters
- **physics_client** - The id of the simulated instance in which the gravity is to be updated.
- **gravity** - The new gravity vector, as a List of 3 floats (in m/s^2).

```

--------------------------------

### Fsr.__init__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1fsr_1_1Fsr.html

Constructs an Fsr object by associating it with a pybullet robot model and a specific link the FSR is attached to. The physicsClientId parameter is optional, defaulting to 0.

```APIDOC
### Constructor
## `def __init__(self, robot_model, fsr_link, physicsClientId=0)`

### Description
Initialise the Fsr sensor for a given simulated robot and a link to which the sensor is attached in the simulation.

### Parameters
- **robot_model** - The pybullet model of the robot
- **fsr_link** - The Link object corresponding to the link the FSR is attached to
- **physicsClientId** (int, default = `0`) - The id of the simulated instance in which the robot exists

### Returns
None
```

--------------------------------

### resetSimulation(physics_client)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Resets a simulated instance, destroying all loaded objects while keeping the instance running.

```APIDOC
## resetSimulation(physics_client)

### Description
Resets the simulated instance corresponding to the physics client id. All of the objects loaded in the simulation will be destroyed, but the instance will still be running.

### Parameters
- **physics_client** - The id of the simulated instance to reset.

```

--------------------------------

### Laser.showLaser

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1laser_1_1Laser.html

Displays debug lines that simulate the laser.

```APIDOC
## Laser.showLaser

### Description
Displays debug lines that simulate the laser.

### Method
showLaser

### Parameters
- **display** - Boolean indicating whether to display the laser debug lines.

### Returns
None
```

--------------------------------

### loadRobot(translation, quaternion, physicsClientId=0)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1nao__virtual_1_1NaoVirtual.html

Loads the Nao robot into a simulated instance, updating finger max velocity, adding self-collision filters, and defining cameras.

```APIDOC
## loadRobot(translation, quaternion, physicsClientId=0)

### Description
Overloads @loadRobot from the @RobotVirtual class, loads the robot into the simulated instance. This method also updates the max velocity of the robot's fingers, adds self collision filters to the model and defines the cameras of the model in the camera_dict.

### Method
loadRobot

### Parameters
- **translation** (List) - Required - List containing 3 elements, the translation [x, y, z] of the robot in the WORLD frame
- **quaternion** (List) - Required - List containing 4 elements, the quaternion [x, y, z, q] of the robot in the WORLD frame
- **physicsClientId** (int) - Optional - The id of the simulated instance in which the robot is supposed to be loaded (default: 0)

### Notes
Reimplemented from RobotVirtual.
```

--------------------------------

### RobotPosture.getPostureName

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1RobotPosture.html

Returns the name of the posture.

```APIDOC
## getPostureName(self)

### Description
Returns the posture_name of the posture.

### Parameters
None

### Returns
- **posture_name** (str) - The name of the posture.
```

--------------------------------

### def isPostureName(self, posture_name)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1NaoPosture.html

Checks if the given posture name matches the current posture.

```APIDOC
## def isPostureName(self, posture_name)

### Description
Checks if the given posture name matches the current posture.

### Parameters
- **posture_name** (str) - Required - The posture name to compare.

### Returns
- **bool** - True if the names match, False otherwise.

```

--------------------------------

### getFrame()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Returns the current frame of the camera.

```APIDOC
## getFrame()

### Description
Returns the current frame of the camera.

### Method
`getFrame()`

### Parameters
None

### Returns
- **frame_copy** - A copy of the current frame.
```

--------------------------------

### PepperPosture.isPostureName

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1PepperPosture.html

Checks if the given posture name matches the current posture's name.

```APIDOC
## PepperPosture.isPostureName

### Description
Checks if the given posture name matches the current posture's name.

### Method
Method

### Signature
```python
def isPostureName(self, posture_name)
```

### Parameters
- **posture_name** (str) - Required - The posture name to compare.

### Returns
- **bool** - True if the given name matches the posture's name, False otherwise.
```

--------------------------------

### getName()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Returns the name of the joint.

```APIDOC
## getName()

### Description
Getter for the name parameter.

### Returns
- **name** - The joint's name

```

--------------------------------

### isActive()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Specifies if the camera is active or not.

```APIDOC
## isActive()

### Description
Specifies if the camera is active or not (if a handle exists for the current camera).

### Method
`isActive()`

### Parameters
None

### Returns
- **is_active** - Boolean, True if the camera is subscribed to, False otherwise.
```

--------------------------------

### Laser.subscribe

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1laser_1_1Laser.html

Subscribes to the laser scan, activating the laser scan process.

```APIDOC
## Laser.subscribe

### Description
Subscribes to the laser scan, activating the laser scan process.

### Method
subscribe

### Parameters
None

### Returns
None
```

--------------------------------

### RobotPosture.getPostureJointValues

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1RobotPosture.html

Returns a list of the desired joint positions for the posture.

```APIDOC
## getPostureJointValues(self)

### Description
Returns a list of the desired joint positions for the posture.

### Parameters
None

### Returns
- **joint_values** (list) - List containing the desired joint positions.
```

--------------------------------

### move(x, y, theta)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1base__controller_1_1PepperBaseController.html

Applies a speed on the robot's base. This method takes linear velocities along the x and y axes and a rotational speed around the z axis.

```APIDOC
## move(x, y, theta)

### Description
Apply a speed on the robot's base.

### Parameters
- **x** (float) - Required - Speed on the x axis, in m/s
- **y** (float) - Required - Speed on the y axis, in m/s
- **theta** (float) - Required - Rotational speed around the z axis, in rad/s

```

--------------------------------

### PepperVirtual._mimicHand()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html

Protected method that propagates a joint value to the fingers attached to a hand. It uses a linear formula to compute finger values from the hand value.

```APIDOC
## PepperVirtual._mimicHand()

### Description
Protected method that propagates a joint value to the fingers attached to a hand. It uses a linear formula to compute finger values from the hand value.

### Method
Protected method

### Signature
python
def _mimicHand(self, hand, value, multiplier=0.872665, offset=0)


### Parameters
- **hand** (str) - Required - String, RHand or LHand
- **value** (float) - Required - The joint value to be propagated
- **multiplier** (float) - Optional - The multiplier coefficient (0.872665 by default)
- **offset** (float) - Optional - The offset coefficient (0.0 by default)

### Returns
- **finger_names** (list) - Names of the finger to be controlled
- **finger_values** (list) - Values of the fingers to be controlled

```

--------------------------------

### setAngles(joint_names, joint_values, percentage_speed)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1nao__virtual_1_1NaoVirtual.html

Sets joint angles with finger mimic behavior, overriding the RobotVirtual method.

```APIDOC
## setAngles(joint_names, joint_values, percentage_speed)

### Description
Overloads @setAngles from the @RobotVirtual class. Handles the finger mimic behaviour.

### Method
setAngles

### Parameters
- **joint_names** (List or string) - Required - List of string (or string if only one joint) containing the name of the joints to be controlled
- **joint_values** (List or value) - Required - List of values (or value if only one joint) corresponding to the angles in radians to be applied
- **percentage_speed** (float) - Required - Percentages of the max speed to be used for each joint, has to be strictly superior to 0 and inferior or equal to 1

### Notes
Reimplemented from RobotVirtual.
```

--------------------------------

### RobotPosture.getPostureJointNames

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1RobotPosture.html

Returns the names of the joints actuated in the posture.

```APIDOC
## getPostureJointNames(self)

### Description
Returns the names of the joints actuated in the posture.

### Parameters
None

### Returns
- **joint_names** (list) - List containing the names of the joints.
```

--------------------------------

### def getPostureJointNames(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1NaoPosture.html

Returns the list of joint names for the posture.

```APIDOC
## def getPostureJointNames(self)

### Description
Returns the list of joint names for the posture.

### Parameters
None

### Returns
- **list** - The joint names.

```

--------------------------------

### getIndex()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Returns the index of the joint.

```APIDOC
## getIndex()

### Description
Getter for the index parameter.

### Returns
- **index** - The joint's index

```

--------------------------------

### getGravity(physics_client)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Retrieves the gravity vector of a simulated instance. Returns None if the specified instance does not exist.

```APIDOC
## getGravity(physics_client)

### Description
Gets the gravity of a simulated instance. If the specified simulated instance doesn't exist, the method will return None.

### Method
N/A (Python method)

### Endpoint
N/A

### Parameters
- **physics_client** (int) - Required - The id of the required simulated instance.

### Returns
- **gravity** (tuple) - The gravity vector of the simulated instance, or None if the instance does not exist.

### Example
```python
# Assuming simulation_manager is an instance of SimulationManager
gravity = simulation_manager.getGravity(physics_client)
```
```

--------------------------------

### stopSimulation()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1simulation__manager_1_1SimulationManager.html

Stops the simulated instance corresponding to the physics_client id.

```APIDOC
## stopSimulation()

### Description
Stops the simulated instance corresponding to the physics_client id.

### Method
stopSimulation

### Parameters
- **physics_client** (int) - Required - The id of the simulated instance to be stopped.
```

--------------------------------

### def getAccelerometerValues(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1imu_1_1Imu.html

Returns the linear acceleration of the IMU in m/s^2 in the world frame.

```APIDOC
## getAccelerometerValues(self)

### Description
Returns the linear acceleration of the IMU in m/s^2 in the world frame.

### Returns
- **linear_acceleration** - The linear acceleration in m/s^2
```

--------------------------------

### getCameraLink()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Returns the link to which the camera is attached, as a qiBullet Link object.

```APIDOC
## getCameraLink()

### Description
Returns the link to which the camera is attached, as a qiBullet Link object.

### Method
`getCameraLink()`

### Parameters
None

### Returns
- **camera_link** - The link to which the camera is attached
```

--------------------------------

### PepperPosture.getPostureJointNames

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1PepperPosture.html

Returns the list of joint names associated with the posture.

```APIDOC
## PepperPosture.getPostureJointNames

### Description
Returns the list of joint names associated with the posture.

### Method
Method

### Signature
```python
def getPostureJointNames(self)
```

### Returns
- **joint_names** (list) - The list of joint names.
```

--------------------------------

### RobotPosture.isPostureName

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1RobotPosture.html

Tests if a given string is the name of the posture. The test is not case-sensitive.

```APIDOC
## isPostureName(self, posture_name)

### Description
Tests if a given string is the name of the posture. The test is not case-sensitive.

### Parameters
- **posture_name** (str) - Required - The name to test.

### Returns
- **boolean** (bool) - True if it is the name of the posture, false otherwise.
```

--------------------------------

### setMaxVelocity(max_velocity)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Sets the maximum velocity of the joint in radians per second.

```APIDOC
## setMaxVelocity(max_velocity)

### Description
Setter for the max velocity parameter.

### Parameters
- **max_velocity** - The max velocity for the current joint in rad/s

### Returns
None

```

--------------------------------

### getFps()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Returns the framerate of the camera in number of frames per second. This method wraps the getFrequency method of Sensor and returns the frequency of the camera in Hz.

```APIDOC
## getFps()

### Description
Returns the framerate of the camera in number of frames per second. This method simply wraps the @getFrequency method of Sensor, and will return the frequency of the camera in Hz.

### Method
`getFps()`

### Parameters
None

### Returns
- **fps** - The number of frames per second for the camera (frequency of the camera in Hz)
```

--------------------------------

### def getPostureJointValues(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1NaoPosture.html

Returns the list of joint values for the posture.

```APIDOC
## def getPostureJointValues(self)

### Description
Returns the list of joint values for the posture.

### Parameters
None

### Returns
- **list** - The joint values.

```

--------------------------------

### __eq__(joint)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Overloads the equality operator to compare two Joint instances.

```APIDOC
## __eq__(joint)

### Description
Overloads the equal operator to compare two Joint objects.

### Parameters
- **joint** - The comparing joint

### Returns
Boolean indicating equality.

```

--------------------------------

### Link.__eq__

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1link_1_1Link.html

Overloads the equality operator to compare two Link objects.

```APIDOC
## Link.__eq__

### Description
Overloads the equality operator to compare two Link objects.

### Method
__eq__

### Parameters
- **link** - The comparing link.

### Returns
bool - True if the links are equal, False otherwise.

```

--------------------------------

### def unsubscribe(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1imu_1_1Imu.html

Unsubscribe from the IMU, deactivating the IMU scan process.

```APIDOC
## unsubscribe(self)

### Description
Unsubscribe from the IMU, deactivating the IMU scan process.

### Inherited From
Sensor (reimplemented)
```

--------------------------------

### getMaxEffort()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Returns the maximum effort of the joint in Newton-meters.

```APIDOC
## getMaxEffort()

### Description
Getter for the max effort parameter.

### Returns
- **max_effort** - The max effort for the joint in N.m

```

--------------------------------

### PepperPosture.getPostureJointValues

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1robot__posture_1_1PepperPosture.html

Returns the list of joint values (angles) for the posture.

```APIDOC
## PepperPosture.getPostureJointValues

### Description
Returns the list of joint values (angles) for the posture.

### Method
Method

### Signature
```python
def getPostureJointValues(self)
```

### Returns
- **joint_values** (list) - The list of joint values.
```

--------------------------------

### getMaxVelocity()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Returns the maximum velocity of the joint in radians per second.

```APIDOC
## getMaxVelocity()

### Description
Getter for the max velocity parameter.

### Returns
- **max_velocity** - The max velocity of the joint in rad/s

```

--------------------------------

### setMaxEffort(max_effort)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1joint_1_1Joint.html

Sets the maximum effort of the joint in Newton-meters.

```APIDOC
## setMaxEffort(max_effort)

### Description
Setter for the max effort parameter.

### Parameters
- **max_effort** - The max effort for the joint in N.m

### Returns
None

```

--------------------------------

### unsubscribe()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1camera_1_1Camera.html

Stops the frame retrieval thread for the camera.

```APIDOC
## unsubscribe()

### Description
Method stopping the frame retrieval thread for a camera.

### Method
`unsubscribe()`

### Parameters
None

### Returns
- **success** - Boolean, True if unsubscribed successfully, False otherwise.
```

--------------------------------

### stopWrapper()

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1ros__wrapper_1_1RosWrapper.html

Stops the ROS wrapper.

```APIDOC
## stopWrapper()

### Description
Stops the ROS wrapper.

### Method
stopWrapper

### Signature
`def stopWrapper(self)`
```

--------------------------------

### def getValues(self)

Source: https://softbankrobotics-research.github.io/qibullet/classqibullet_1_1imu_1_1Imu.html

Returns the values of the gyroscope and the accelerometer of the IMU in the world frame.

```APIDOC
## getValues(self)

### Description
Returns the values of the gyroscope and the accelerometer of the IMU (angular_velocity, linear_acceleration) in the world frame.

### Returns
- **angular_velocity** - The angular velocity values in rad/s
- **linear_acceleration** - The linear acceleration values in m/s^2
```
Tokens:
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