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update parsers/simulators + add simulator example

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Brian Delhaisse
2019-09-10 10:23:36 +02:00
parent 79b2e6a9d0
commit 40f01cd6e8
29 changed files with 2129 additions and 319 deletions
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examples/simulators/README.md
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@@ -22,6 +22,9 @@ joint position values that were returned by the Bullet simulator on the correspo
values from the ROS topics and change them in the simulator. This works with the `bullet_ros_publisher.py` code
presented above. By moving the robot with your mouse in the publisher version, you will see the robot in this
subscriber version moves in accordance with. This can be useful if you have access to the real platform as well.
4. `simulators.py`: example which loads few primitive shapes and the ANYmal robot using a simulator among `Bullet`,
`Mujoco`, `Raisim`, and `Dart`. Only the line `sim = <SimulatorName>(render=True)` needs to be changed. Note that
the integration of these other simulators is ongoing.
Later, a `ROS`/`ROS_RBDL` "simulator" (without passing by a real simulator like `Bullet`) will allow you to make
your code works on a real platform using ROS without changing any other lines of code. This is one of the big