# pyb-manipulator
Pybullet wrapper which simplifies many manipulator-specific queries and commands.
All you need to get started is a URDF.

# Installation
Follow the instructions and pip install the [liegroups](https://github.com/utiasSTARS/liegroups) package.
Clone this repository and you're good to go.

# Roadmap
- Abstract away initializations for specific robots to separate classes
  - Because of method overriding
- Support for moving bases
- Implement selectively damped least squares
- Support for `pip install`
- Force-torque control



