silverbullet

shallow but powerful wrapper around pybullet

Installation

pip install silverbullet

Usage

from silverbullet import Scene, Robot

# GUI mode
# from silverbullet import Connection, Mode
# conn = Connection(mode=Mode.GUI)
# scene = Scene(timestep=0.01, frame_skip=4, connection=conn)

scene = Scene(timestep=0.01, frame_skip=4)
robot = Robot.load_urdf(scene, "robot.urdf")
robot.bring_on_the_ground()

while True:

  # You can control and observe the robot
  # e.g. robot.set_joint_torque('joint1', 1)

  do_something(robot)

  # This will step simulation
  scene.step()