update parsers/simulators + add simulator example

examples/simulators/simulators.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+"""Simulator tests.
+
+Example on how to load different things with the simulators. This example is still in an experimental phase. For
+now, only Bullet is fully-supported. We are working on the other ones, especially the Mujoco simulator.
+- Bullet: OK
+- Raisim: OK  (todo: for collision bodies, it only accepts OBJ files)
+- MuJoCo: OK  (todo: control still missing)
+- DART: OK, but capsules don't have collision shapes... (todo: fix some URDFs)
+- VREP: Not implemented yet + problem when importing PyRep with pybullet. Also, need to figure out how to call the
+  'loadURDF' plugin.
+- Isaac: not available yet.
+"""
+
+import os
+from itertools import count
+
+from pyrobolearn.simulators.bullet import Bullet
+from pyrobolearn.simulators.raisim import Raisim
+from pyrobolearn.simulators.dart import Dart
+from pyrobolearn.simulators.mujoco import Mujoco
+# from pyrobolearn.simulators.vrep import VREP  # Problem when importing PyRep with Pybullet
+# from pyrobolearn.simulators.isaac import Isaac  # Not available yet
+
+
+sim = Bullet(render=True)
+# sim = Raisim(render=True)
+# sim = Dart(render=True)
+# sim = Mujoco(render=True)
+# sim = VREP(render=True)
+# sim = Isaac(render=True)
+print("Gravity: {}".format(sim.get_gravity()))
+
+# load floor
+floor = sim.load_floor(dimension=20)
+
+# create box
+box = sim.create_primitive_object(sim.GEOM_BOX, position=(0, 0, 2), mass=1, rgba_color=(1, 0, 0, 1))
+sphere = sim.create_primitive_object(sim.GEOM_SPHERE, position=(2, 2, 2), mass=1, rgba_color=(0, 1, 0, 1))
+cylinder = sim.create_primitive_object(sim.GEOM_CYLINDER, position=(0, 2, 2), mass=1)
+capsule = sim.create_primitive_object(sim.GEOM_CAPSULE, position=(0, -2, 2), mass=1, rgba_color=(0, 0, 1, 1),
+                                      radius=0.5, height=0.5)
+
+# load robot
+urdf_path = os.path.dirname(os.path.abspath(__file__)) + '/../../pyrobolearn/robots/urdfs/'
+# path = urdf_path + 'rrbot/rrbot.urdf'
+# path = urdf_path + 'jaco/jaco.urdf'
+# path = urdf_path + 'kuka/kuka_iiwa/iiwa14.urdf'
+# path = urdf_path + 'hyq2max/hyq2max.urdf'
+path = urdf_path + 'anymal/anymal.urdf'
+# path = urdf_path + 'centauro/centauro_stick.urdf'
+
+robot = sim.load_urdf(path, position=(3, -3, 2), use_fixed_base=False)
+
+# perform step
+for t in count():
+    sim.step(sleep_time=sim.dt)