diff --git a/pyrobolearn/worlds/__init__.py b/pyrobolearn/worlds/__init__.py
new file mode 100644
index 0000000..6fdd4dc
--- /dev/null
+++ b/pyrobolearn/worlds/__init__.py
@@ -0,0 +1,3 @@
+
+# import worlds
+from world import World, BasicWorld, WorldCamera
diff --git a/pyrobolearn/worlds/meshes/cone.obj b/pyrobolearn/worlds/meshes/cone.obj
new file mode 100644
index 0000000..d029069
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/cone.obj
@@ -0,0 +1,804 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object cone.obj
+#
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+# Faces: 198
+#
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diff --git a/pyrobolearn/worlds/meshes/ellipsoid.obj b/pyrobolearn/worlds/meshes/ellipsoid.obj
new file mode 100644
index 0000000..ca04a97
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new file mode 100644
index 0000000..d93df04
--- /dev/null
+++ b/pyrobolearn/worlds/meshes/right_triangular_prism.obj
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+f 16865//16865 9859//9859 9959//9959
+f 16865//16865 9959//9959 9958//9958
+f 9859//9859 9860//9860 9960//9960
+f 9859//9859 9960//9960 9959//9959
+f 9860//9860 9861//9861 9961//9961
+f 9860//9860 9961//9961 9960//9960
+f 9861//9861 9862//9862 9962//9962
+f 9861//9861 9962//9962 9961//9961
+f 9862//9862 9863//9863 9963//9963
+f 9862//9862 9963//9963 9962//9962
+f 9863//9863 9864//9864 9964//9964
+f 9863//9863 9964//9964 9963//9963
+f 16866//16866 9865//9865 9965//9965
+f 16866//16866 9965//9965 16914//16914
+f 16868//16868 9866//9866 9966//9966
+f 16868//16868 9966//9966 16915//16915
+f 9866//9866 9867//9867 9967//9967
+f 9866//9866 9967//9967 9966//9966
+f 16869//16869 9868//9868 9968//9968
+f 16869//16869 9968//9968 16916//16916
+f 16870//16870 9869//9869 9969//9969
+f 16870//16870 9969//9969 16917//16917
+f 16871//16871 16872//16872 9970//9970
+f 16871//16871 9970//9970 16918//16918
+f 16873//16873 9871//9871 9971//9971
+f 16873//16873 9971//9971 16919//16919
+f 9871//9871 9872//9872 9972//9972
+f 9871//9871 9972//9972 9971//9971
+f 9872//9872 9873//9873 9973//9973
+f 9872//9872 9973//9973 9972//9972
+f 9873//9873 9874//9874 9974//9974
+f 9873//9873 9974//9974 9973//9973
+f 9874//9874 16875//16875 9975//9975
+f 9874//9874 9975//9975 9974//9974
+f 16876//16876 16878//16878 9976//9976
+f 16876//16876 9976//9976 16920//16920
+f 16877//16877 9877//9877 9977//9977
+f 16877//16877 9977//9977 16921//16921
+f 9877//9877 9878//9878 9978//9978
+f 9877//9877 9978//9978 9977//9977
+f 9878//9878 9879//9879 9979//9979
+f 9878//9878 9979//9979 9978//9978
+f 9879//9879 9880//9880 9980//9980
+f 9879//9879 9980//9980 9979//9979
+f 16879//16879 9881//9881 9981//9981
+f 16879//16879 9981//9981 16922//16922
+f 9881//9881 9882//9882 9982//9982
+f 9881//9881 9982//9982 9981//9981
+f 16880//16880 16882//16882 9983//9983
+f 16880//16880 9983//9983 16923//16923
+f 16881//16881 9884//9884 9984//9984
+f 16881//16881 9984//9984 16924//16924
+f 9884//9884 9885//9885 9985//9985
+f 9884//9884 9985//9985 9984//9984
+f 16883//16883 9886//9886 9986//9986
+f 16883//16883 9986//9986 16925//16925
+f 16885//16885 16886//16886 9987//9987
+f 16885//16885 9987//9987 16926//16926
+f 16886//16886 9888//9888 9988//9988
+f 16886//16886 9988//9988 9987//9987
+f 9888//9888 9889//9889 9989//9989
+f 9888//9888 9989//9989 9988//9988
+f 9889//9889 9890//9890 9990//9990
+f 9889//9889 9990//9990 9989//9989
+f 9890//9890 16888//16888 9991//9991
+f 9890//9890 9991//9991 9990//9990
+f 16888//16888 9892//9892 9992//9992
+f 16888//16888 9992//9992 9991//9991
+f 9892//9892 9893//9893 9993//9993
+f 9892//9892 9993//9993 9992//9992
+f 9893//9893 9894//9894 9994//9994
+f 9893//9893 9994//9994 16927//16927
+f 16890//16890 16892//16892 9995//9995
+f 16890//16890 9995//9995 16928//16928
+f 16891//16891 9896//9896 9996//9996
+f 16891//16891 9996//9996 16929//16929
+f 16893//16893 9897//9897 9997//9997
+f 16893//16893 9997//9997 16930//16930
+f 16894//16894 9898//9898 9998//9998
+f 16894//16894 9998//9998 16931//16931
+f 9898//9898 9899//9899 9999//9999
+f 9898//9898 9999//9999 9998//9998
+f 9899//9899 9900//9900 10000//10000
+f 9899//9899 10000//10000 9999//9999
+# 19602 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/pyrobolearn/worlds/world.py b/pyrobolearn/worlds/world.py
new file mode 100644
index 0000000..793a556
--- /dev/null
+++ b/pyrobolearn/worlds/world.py
@@ -0,0 +1,1915 @@
+#!/usr/bin/env python
+"""Define the the `World` class which allows to specify what constitutes the world (i.e. what elements are in
+ the world).
+
+Dependencies:
+- `pyrobolearn.simulators`
+"""
+
+import collections
+import multiprocessing
+import os
+
+import cv2
+import time
+
+from pyrobolearn.utils.converter import QuaternionListConverter
+from pyrobolearn.utils.heightmap_generator import *
+from pyrobolearn.utils import hasMethod, hasVariable, isClass
+
+from pyrobolearn.robots import Robot, robot_names_to_classes
+# from pyrobolearn.tools.bridges.bridge import Bridge
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2018, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "MIT"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class WorldCamera(object):
+    r"""World camera.
+
+    Camera that looks at the world (only available in the simulator).
+
+    The following operations carried out (in the given order) by OpenGL in order to display images seen by the
+    camera are:
+    * M: Model space --> World space. This transforms the coordinates of each model described in their own local
+     frame :math:`[x_{l}, y_{l}, z_{l}, 1]` to world coordinates :math:`[x_{w}, y_{w}, z_{w}, 1]`.
+    * V: World space --> View space. This transforms world coordinates :math:`[x_{w}, y_{w}, z_{w}, 1]` into eye
+     coordinates :math:`[x_{e}, y_{e}, z_{e}, 1]`. That is, it rotates and translates the world such that it is in
+     front of the camera.
+    * P: View space --> Projection space. Transforms the eye coordinates into clip coordinates using an orthographic
+     or perspective projection. The new coordinates are given by :math:`[x_{c}, y_{c}, z_{c}, w_{c}]`. This is not
+     normalized, i.e. w_{c} is not equal to 1. See next operation.
+    * norm: Screen space --> NDC space. This normalizes the previous clipped coordinates into
+     Normalized Device Coordinates (NDC) where each coordinate is normalized and is between -1 and 1. That is,
+     we now have :math:`[x_{n}, y_{n}, z_{n}, 1] = [x_c/w_c, y_c/w_c, z_c, w_c/w_c]`
+    * Vp: NDC space --> Screen space. Finally, this maps the previous normalized clip coordinates to pixel
+     coordinates :math:`[x_{s}, y_{s}, z_{s}, 1]` where :math:`x_s` (:math:`y_s`) is between 0 and the width
+     (height) of the screen respectively, and :math:`z_s` represents the depth which is between 0 and 1.
+
+    References:
+        [1] http://www.codinglabs.net/article_world_view_projection_matrix.aspx
+        [2] https://learnopengl.com/Getting-started/Coordinate-Systems
+        [3] http://www.thecodecrate.com/opengl-es/opengl-transformation-matrices/
+        [4] http://learnwebgl.brown37.net/08_projections/projections_perspective.html
+    """
+
+    def __init__(self, simulator):
+        self.sim = simulator
+
+    def __repr__(self):
+        return self.__class__.__name__
+
+    @property
+    def info(self):
+        """
+        Return all the information about the camera.
+        """
+        return self.getDebugVisualizerCamera(convert=False)
+
+    # alias
+    def getDebugVisualizerCamera(self, convert=True):
+        """
+        Return all the information provided by the camera.
+
+        Args:
+            convert (bool): if True, it will convert the lists into numpy vectors and matrices
+
+        Returns:
+            width (int): width of the camera image in pixels
+            height (int): height of the camera image in pixels
+            viewMatrix (float[16], float[4x4]): view matrix of the camera
+            projectionMatrix (float[16], float[4x4]): projection matrix of the camera
+            cameraUp (float[3]): up axis of the camera, in Cartesian world space coordinates
+            cameraForward (float[3]): forward axis of the camera, in Cartesian world space coordinates
+            horizontal (float[3]): TBD. This is a horizontal vector that can be used to generate rays (for mouse
+                picking or creating a simple ray tracer for example)
+            vertical (float[3]): TBD.This is a vertical vector that can be used to generate rays(for mouse picking
+                or creating a simple ray tracer for example).
+            yaw (float): yaw angle of the camera, in Cartesian local space coordinates
+            pitch (float): pitch angle of the camera, in Cartesian local space coordinates
+            dist (float): distance between the camera and the camera target
+            target (float[3]): target of the camera, in Cartesian world space coordinates
+
+        """
+        if convert:
+            width, height, viewMatrix, projectionMatrix, cameraUp,\
+                cameraForward, horizontal, vertical, yaw, pitch, dist, target = self.sim.getDebugVisualizerCamera()
+
+            # convert
+            viewMatrix = np.array(viewMatrix).reshape(4, 4).T
+            projectionMatrix = np.array(projectionMatrix).reshape(4, 4).T
+            cameraUp = np.array(cameraUp)
+            cameraForward = np.array(cameraForward)
+            horizontal = np.array(horizontal)
+            vertical = np.array(vertical)
+            target = np.array(target)
+            yaw, pitch = np.deg2rad(yaw), np.deg2rad(pitch)
+
+            # return
+            return width, height, viewMatrix, projectionMatrix, cameraForward, cameraForward, horizontal, vertical,\
+                    yaw, pitch, dist, target
+        return self.sim.getDebugVisualizerCamera()
+
+    @property
+    def width(self):
+        """
+        Return the width of the pictures (in pixel)
+        """
+        return self.sim.getDebugVisualizerCamera()[0]
+
+    @property
+    def height(self):
+        """
+        Return the height of the pictures (in pixel)
+        """
+        return self.sim.getDebugVisualizerCamera()[1]
+
+    @property
+    def V(self):
+        """
+        Return the view matrix, which maps from the world to the view space.
+        """
+        viewMatrix = self.sim.getDebugVisualizerCamera()[2]
+        return np.array(viewMatrix).reshape(4, 4).T
+
+    # alias
+    viewMatrix = V
+
+    @property
+    def Vinv(self):
+        """
+        Return the inverse of the view matrix
+        """
+        return np.linalg.inv(self.V)
+
+    @property
+    def P(self):
+        """
+        Return the projection matrix, which maps from the view to the projected/clipped space.
+        """
+        projectionMatrix = self.sim.getDebugVisualizerCamera()[3]
+        return np.array(projectionMatrix).reshape(4, 4).T
+
+    # alias
+    projectionMatrix = P
+
+    @property
+    def Pinv(self):
+        """
+        Return the inverse of the projection matrix
+        """
+        return np.linalg.inv(self.P)
+
+    @property
+    def Vp(self):
+        """
+        Return the viewport matrix, which maps from the normalized clip coordinates to pixel coordinates.
+        """
+        width, height = self.sim.getDebugVisualizerCamera()[:2]
+        return np.array([[width / 2, 0, 0, width / 2],
+                         [0, height / 2, 0, height / 2],
+                         [0, 0, 0.5, 0.5],
+                         [0, 0, 0, 1]])
+
+    viewportMatrix = Vp
+
+    @property
+    def Vp_inv(self):
+        """
+        Return the inverse of the viewport matrix.
+        """
+        return np.linalg.inv(self.Vp)
+
+    def getMatrices(self, inverse=False):
+        """
+        Return the view, projection, and viewport matrices.
+        """
+        width, height, V, P = self.sim.getDebugVisualizerCamera()[:4]
+        V = np.array(V).reshape(4, 4).T
+        P = np.array(P).reshape(4, 4).T
+        Vp = np.array([[width / 2, 0, 0, width / 2],
+                         [0, height / 2, 0, height / 2],
+                         [0, 0, 0.5, 0.5],
+                         [0, 0, 0, 1]])
+        if inverse:
+            Vinv = np.linalg.inv(V)
+            Pinv = np.linalg.inv(P)
+            Vpinv = np.linalg.inv(Vp)
+            return V, P, Vp, Vinv, Pinv, Vpinv
+        return V, P, Vp
+
+    @property
+    def upVector(self):
+        """
+        Return the up axis of the camera in the Cartesian world space coordinates
+        """
+        return np.array(self.sim.getDebugVisualizerCamera()[4])
+
+    @property
+    def forwardVector(self):
+        """
+        Return the forward axis of the camera in the Cartesian world space coordinates.
+        """
+        return np.array(self.sim.getDebugVisualizerCamera()[5])
+
+    def getVectors(self):
+        """
+        Return the forward, up, and lateral vectors of the camera.
+        """
+        upVector, forwardVector = self.sim.getDebugVisualizerCamera()[4:6]
+        upVector, forwardVector = np.array(upVector), np.array(forwardVector)
+        lateralVector = np.cross(forwardVector, upVector)
+        return forwardVector, upVector, lateralVector
+
+    @property
+    def yaw(self):
+        """
+        Return the yaw angle of the camera in radian
+        """
+        return np.deg2rad(self.sim.getDebugVisualizerCamera()[8])
+
+    @property
+    def pitch(self):
+        """
+        Return the pitch angle of the camera.
+        """
+        return np.deg2rad(self.sim.getDebugVisualizerCamera()[9])
+
+    @property
+    def dist(self):
+        """
+        Return the distance between the camera and the camera target.
+        """
+        return self.sim.getDebugVisualizerCamera()[10]
+
+    @property
+    def targetPosition(self):
+        """
+        Return the target of the camera in the Cartesian world space coordinates.
+        """
+        return np.array(self.sim.getDebugVisualizerCamera()[11])
+
+    @targetPosition.setter
+    def targetPosition(self, pos):
+        yaw, pitch, dist = self.sim.getDebugVisualizerCamera()[-4:-1]
+        self.sim.resetDebugVisualizerCamera(dist, yaw, pitch, pos)
+
+    @property
+    def position(self):
+        """
+        Return the current position of the camera in the Cartesian world space coordinates.
+        """
+        Vinv = np.linalg.inv(self.V) # compute inverse of the view matrix
+        position = Vinv[:3,3] # the last column is the current position of the camera
+        return position
+
+    @position.setter
+    def position(self, pos):
+        self.sim.resetDebugVisualizerCamera(dist, yaw, pitch, targetPos)
+
+    @property
+    def orientation(self):
+        # based on forwardVector and upVector
+        pass
+
+    @orientation.setter
+    def orientation(self, orientation):
+        pass
+
+    def setYawPitch(self, yaw, pitch, radian=True):
+        if radian:
+            yaw, pitch = np.rad2deg(yaw), np.rad2deg(pitch)
+        dist, targetPos = self.sim.getDebugVisualizerCamera()[-2:]
+        self.sim.resetDebugVisualizerCamera(dist, yaw, pitch, targetPos)
+
+    def addYawPitch(self, dyaw, dpitch, radian=True):
+        yaw, pitch, dist, targetPos = self.sim.getDebugVisualizerCamera()[-4:]
+        if radian:
+            dyaw, dpitch = np.rad2deg(dyaw), np.rad2deg(dpitch)
+        yaw += dyaw
+        pitch += dpitch
+        self.sim.resetDebugVisualizerCamera(dist, yaw, pitch, targetPos)
+
+    def getRGBImage(self):
+        """
+        Return the captured RGB image.
+        """
+        return self.getRGBAImage()[:, :, :3]
+
+    def getRGBAImage(self):
+        """
+        Return the captured RGBA image. 'A' stands for alpha channel (for opacity/transparency)
+        """
+        width, height, viewMatrix, projectionMatrix = self.sim.getDebugVisualizerCamera()[:4]
+        img = np.array(self.sim.getCameraImage(width, height, viewMatrix, projectionMatrix)[2])
+        img = img.reshape(width, height, 4)  # RGBA
+        return img
+
+    def getDepthImage(self):
+        """
+        Return the depth image.
+        """
+        width, height, viewMatrix, projectionMatrix = self.sim.getDebugVisualizerCamera()[:4]
+        img = np.array(self.sim.getCameraImage(width, height, viewMatrix, projectionMatrix)[3])
+        img = img.reshape(width, height)
+        return img
+
+    def getRGBADImage(self, concatenate=True):
+        """
+        Return the RGBA and depth images.
+        """
+        width, height, viewMatrix, projectionMatrix = self.sim.getDebugVisualizerCamera()[:4]
+        rgba, depth = self.sim.getCameraImage(width, height, viewMatrix, projectionMatrix)[2:4]
+        rgba = np.array(rgba).reshape(width, height, 4)
+        depth = np.array(depth).reshape(width, height)
+        if concatenate:
+            return np.dstack((rgba, depth))
+        return (rgba, depth)
+
+    def screenToWorld(self, x_screen, Vp_inv=None, P_inv=None, V_inv=None):
+        """
+        Return the corresponding coordinates in the Cartesian world space from the coordinates of a point
+        on the screen.
+
+        Args:
+            x_screen (float[4]): augmented vector coordinates of a point on the screen
+            Vp_inv (float[4,4])): inverse of viewport matrix
+            P_inv (float[4,4]): inverse of projection matrix
+            V_inv (float[4,4]): inverse of view matrix
+
+        Returns:
+            float[4]: augmented vector coordinates of the corresponding point in the world
+        """
+        if Vp_inv is None: Vp_inv = self.Vp_inv
+        if P_inv is None: P_inv = self.Pinv
+        if V_inv is None: V_inv = self.Vinv
+
+        x_ndc = Vp_inv.dot(x_screen)
+        x_ndc[1] = -x_ndc[1]  # invert y-axis
+        x_ndc[2] = -x_ndc[2]  # invert z-axis
+        x_eye = P_inv.dot(x_ndc)
+        x_eye = x_eye / x_eye[3]  # normalize
+        x_world = V_inv.dot(x_eye)
+        return x_world
+
+    def worldToScreen(self, x_world, V=None, P=None, Vp=None):
+        """
+        Return the corresponding screen coordinates from a 3D point in the world.
+
+        Args:
+            x_world (float[4]): augmented vector coordinates of a point in the Cartesian world space
+            V (float[4,4], None): view matrix
+            P (float[4,4], None): projection matrix
+            Vp (float[4,4], None): viewport matrix
+
+        Returns:
+            float[4]: augmented vector coordinates of the corresponding point on the screen
+        """
+        if V is None: V = self.V
+        if P is None: P = self.P
+        if Vp is None: Vp = self.Vp
+
+        x_eye = V.dot(x_world)
+        x_clip = P.dot(x_eye)
+        x_ndc = x_clip / x_clip[3]  # normalize
+        x_ndc[1] = -x_ndc[1]  # invert y-axis (as y pointing upward in projection but should point downward in screen)
+        x_ndc[2] = -x_ndc[2]  # invert z-axis (to get right-handed coord. system, -1=close and 1=far)
+        x_screen = Vp.dot(x_ndc)    # for depth between 0(=close) and 1(=far)
+        return x_screen
+
+
+class World(object):
+    r"""World class.
+
+    The world contains all the objects that constitutes the world. This includes immovable objects such as the
+    terrain/floor, walls, and so on, as well as movable objects such as the various robots, etc.
+    Properties of the world are also defined here, such as gravity, friction, and other dynamical properties.
+
+    The world is responsible to load the different objects part of the world and keeping a map of objects;
+    based on where the agent(s) is(are), the objects will be removed or added from/to the simulator allowing it
+    to run faster.
+
+    It is independent of the simulator and environment used in RL, and is often provided as inputs to some
+    `rewards/costs` and to the `environment`.
+    A world can only be defined in a simulator. Because of this, robots (which normally should be part of the
+    world) can be independent from this last one. This allows to use robots in reality where the world is already
+    defined (i.e. the real world).
+
+    For an excellent overview of available 3D models/scenes, check references [1, 2].
+
+    References:
+        [1] "3D Machine Learning": https://github.com/timzhang642/3D-Machine-Learning
+        [2] Open3D: http://www.open3d.org/
+    """
+
+    def __init__(self, simulator, set_gravity=True):
+        self.sim = simulator
+        # self.sim.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+        self.robots = {}
+        self.robot_init_states = {}
+        self.movable_objects = {} # set()
+        self.immovable_objects = {} # set()
+        self.visual_objects = {} # set()
+
+        self.visual_shapes = {}
+        self.map = None
+        self.floor_id = -1
+
+        self.quaternion_converter = QuaternionListConverter(convention=1)
+
+        # By default, set the gravity
+        if set_gravity:
+            self.setGravity()
+
+        self.worldState = None
+
+        # configure debug visualizer
+        # self.sim.configureDebugVisualizer(self.sim.COV_ENABLE_GUI, 0)
+
+        # interfaces and bridges
+        self.interfaces = set([])
+        self.bridges = []
+
+    ##############
+    # Properties #
+    ##############
+
+    @property
+    def simulator(self):
+        return self.sim
+
+    @property
+    def mainCamera(self):
+        return self.getMainCamera()
+
+    ########################
+    # Operator Overloading #
+    ########################
+
+    def __repr__(self):
+        return self.__class__.__name__
+
+    def __contains__(self, item):
+        """
+        Check if the given item is in the world.
+
+        Args:
+            item (int, Object, Robot): if it is an integer, it will check if the given object id is in the world.
+
+        Returns:
+            bool: True if the world contains the given item
+        """
+        if not isinstance(item, int):
+            item = item.id
+
+        return (item in self.robots) or (item in self.movable_objects) or (item in self.immovable_objects) \
+                or (item in self.visual_objects)
+
+    ###########
+    # Methods #
+    ###########
+
+    def setBridges(self, bridges):
+        """
+        This append the given bridges to various interfaces to the list of bridges.
+
+        See `pyrobolearn.tools.interface` and `pyrobolearn.tools.bridge` for more information.
+
+        Args:
+            bridges (list, Bridge): list of bridges
+        """
+        if isinstance(bridges, collections.Iterable):
+            for bridge in bridges:
+                # if not isinstance(bridge, Bridge):
+                #    raise TypeError("Expecting a list of bridges (must be an instance of Bridge)")
+                if not hasMethod(bridge, 'step') and not hasVariable(bridge, 'interface'):
+                    raise TypeError("Expecting bridge to have a `step` method and an `interface` variable")
+                if not hasMethod(bridge.interface, 'step'):
+                    raise TypeError("Expecting the bridge.interface to have a `step` method")
+                self.bridges.append(bridge)
+                self.interfaces.add(bridge.interface)
+        # elif isinstance(bridges, Bridge):
+        elif hasMethod(bridges, 'step') and hasVariable(bridges, 'interface') and hasMethod(bridges.interface, 'step'):
+            self.bridges.append(bridges)
+            self.interfaces.add(bridges.interface)
+        else:
+            raise TypeError("Expecting a bridge (instance of Bridge) or a list of instances of Bridge")
+
+    def setRealTimeSimulation(self, enable=True):
+        """
+        Simulate in real-time. This is wrapper around the original `setRealTimeSimulation` method.
+        From the user-guide (https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA):
+        "By default, the physics server will not step the simulation, unless you explicitly send a 'stepSimulation'
+        command. This way you can maintain control determinism of the simulation. It is possible to run the
+        simulation in real-time by letting the physics server automatically step the simulation according to
+        its real-time-clock (RTC) using the setRealTimeSimulation command. If you enable the real-time simulation,
+        you don't need to call 'stepSimulation'.
+
+        Note that setRealTimeSimulation has no effect in DIRECT mode: in DIRECT mode the physics server and client
+        happen in the same thread and you trigger every command. In GUI mode and in Virtual Reality mode, and TCP/UDP
+        mode, the physics server runs in a separate thread from the client (PyBullet), and setRealTimeSimulation
+        allows the physicsserver  thread to add additional calls to stepSimulation."
+
+        Args:
+            enable (bool): If True, it enables the real-time simulation. If False, it disables it.
+        """
+        self.sim.setRealTimeSimulation(enable)
+
+    def save(self, filename=None):
+        """
+        Save the world in the given filename. If the filename is None, it will save it in memory (RAM).
+        """
+        # save approximate world state on the disk
+        # self.sim.saveWorld(filename)
+
+        if filename is None:
+            # save world state in memory (RAM)
+            self.worldState = self.sim.saveState()
+        else:
+            # save world state on the disk
+            self.sim.saveBullet(filename)
+            self.worldState = filename
+        return self.worldState
+
+    def reset(self):
+        """
+        Reset the world. Put back each object where they were when added to the world.
+        """
+        # save to current instance if not already saved
+        if self.worldState is None:
+            self.worldState = self.save()
+
+        # reset world to a previous instance
+        if isinstance(self.worldState, int):
+            # load world state from memory
+            self.sim.restoreState(self.worldState)
+            # reset the robot
+            # for robot in self.robots.values():
+            #     # robot.resetBasePositionAndOrientation()
+            #     # robot.resetBaseVelocity()
+            #     robot.resetJointStates()
+            #     robot.setJointInitPositions()
+        elif isinstance(self.worldState, str):
+            # load world state from the disk
+            self.sim.restoreState(fileName=self.worldState)
+        else:
+            # reset simulation: remove all objects from the world and reset the world to initial conditions
+            self.sim.resetSimulation()
+
+    def resetSimulator(self):
+        """
+        Reset the simulator.
+        """
+        self.sim.resetSimulation()
+
+    def step(self, sleep_dt=None):
+        """
+        Perform one step for the interfaces and bridges, and one step in the world/simulator.
+        """
+        for interface in self.interfaces:
+            interface.step()
+        for bridge in self.bridges:
+            bridge.step()
+        self.sim.stepSimulation()
+        if sleep_dt is not None:
+            time.sleep(sleep_dt)
+
+    def setGravity(self, xyz=(0.,0.,-9.81)):
+        """
+        Set the given gravity.
+
+        Args:
+            xyz (float[3]): gravity (acceleration) along the 3 axis.
+        """
+        x,y,z = xyz
+        self.sim.setGravity(x, y, z)
+
+    def getMainCamera(self):
+        """
+        Return the main camera of the simulator.
+        """
+        return WorldCamera(self.sim)
+
+    def loadRobot(self, robot, position=None, orientation=None, useFixedBase=None):
+        """
+        Load the robot into the world. If the robot parameter is a known robot name or the path to the urdf file,
+        it will create a `Robot` instance and return it. If the robot is already an instance of `Robot` it will
+        just add it to the list of objects present in the world.
+
+        Args:
+            robot (Robot, str, class): the robot instance or name. For the list of possible robot names, import
+                `implemented_robots` from `pyrobolearn.robots` module.
+            position (float[3], None): position of the robot. If None, it will take the default position.
+            orientation (float[4], None): orientation of the robot. If None, it will be the default orientation.
+            useFixedBase (bool, None): if True, it will fix the robot's base. If None, it will be the default option.
+
+        Return:
+            Robot: instance of the Robot class
+        """
+        if isinstance(robot, Robot):  # the robot is already loaded, then add it to the list
+            pass
+
+        elif isinstance(robot, str):  # robot's name
+            robot = robot.lower()
+
+            if robot in robot_names_to_classes:
+                robot_class = robot_names_to_classes[robot]
+                robot = robot_class(self.sim, init_pos=position, init_orient=orientation, useFixedBase=useFixedBase)
+
+            else:  # robot is the path to the urdf
+                robot = Robot(self.sim, urdf_path=robot, init_pos=position, init_orient=orientation,
+                              useFixedBase=useFixedBase)
+
+        elif isClass(robot):  # robot class
+            robot = robot(self.sim, init_pos=position, init_orient=orientation, useFixedBase=useFixedBase)
+
+        else: # unknown type
+            raise TypeError('Unknown type for robot: {}. It must be a string or '
+                            'an instance of Robot'.format(type(robot)))
+
+        self.robots[robot.id] = robot
+        self.robot_init_states[robot.id] = (robot.getJointPositions(), robot.getJointVelocities())
+        return robot
+
+    def isRobotId(self, robotId):
+        """
+        Check if the given id is a robot id.
+
+        Args:
+            robotId (int): the possible robot id
+
+        Returns:
+            bool: True if the id is a robot id, False otherwise
+        """
+        return robotId in self.robots
+
+    def getRobot(self, robotId):
+        """
+        Return the robot object (instance of Robot) associated to the given robot id.
+
+        Args:
+            robotId (int): unique id of the robot
+
+        Raises:
+            KeyError: if the given robot id is not in the world.
+
+        Returns:
+            Robot: robot instance
+        """
+        return self.robots[robotId]
+
+    def resetRobots(self):
+        """
+        Reset the joint states of each robot
+        """
+        for robotId, robot in self.robots.items():
+            pos, vel = self.robot_init_states[robotId]
+            for jointId, p, v in zip(robot.joints, pos, vel):
+                self.sim.resetJointState(robotId, jointId, p, v)
+
+    def loadURDF(self, filename, position, orientation, useFixedBase=False, scaling=1., objectName=None):
+        """
+        Load URDF specified by the given path. This is basically a wrapper around the simulator's `loadURDF` method.
+
+        Args:
+            filename (str): path to the URDF file
+            position (float[3]): position of the object described in the URDF
+            orientation (float[4]): orientation represented as a quaternion
+            usedFixedBase (bool): if the base of the object should be fixed or not
+            scaling (float): scale factor for the object
+            objectName (str, None): name of the object. If None, it will extract it from the URDF.
+
+        Returns:
+            int: unique id of the loaded body.
+        """
+        obj = self.sim.loadURDF(filename, position, orientation, useFixedBase=useFixedBase, globalScaling=scaling)
+        self.movable_objects[obj] = self.sim.getBodyInfo(obj) if objectName is None else objectName
+        return obj
+
+    def loadSDF(self, filename, scaling=1.):
+        """
+        Load the given SDF file; this will thus load all the object described in a SDF file.
+
+        Args:
+            filename (str): path to the SDF file
+            scaling (float): scale factor for the object
+
+        Returns:
+            list(int): list of ids
+        """
+        objects = self.sim.loadSDF(filename, globalScaling=scaling)
+        for obj in objects:
+            self.movable_objects[obj] = self.sim.getBodyInfo(obj)
+        return objects
+
+    def loadMJCF(self, filename, scaling=1.):
+        """
+        Load the given MJCF file; this will thus load all the object described in a MJCF file.
+
+        Args:
+            filename (str): path to the MJCF file
+            scaling (float): scale factor for the object
+
+        Returns:
+            list(int): list of ids
+        """
+        objects = self.sim.loadMJCF(filename) #, globalScaling=scaling)
+        for obj in objects:
+            self.movable_objects[obj] = self.sim.getBodyInfo(obj)
+        return objects
+
+    def _loadSDForURDF(self, path, position, orientation, scaling, objectType=None):
+        extension_name = path.split('.')[-1]
+        if extension_name == 'urdf':
+            object_id = self.sim.loadURDF(path, position, orientation, globalScaling=scaling)
+            self.movable_objects[object_id] = 'urdf' if objectType is None else objectType
+        elif extension_name == 'sdf':
+            object_id = self.sim.loadSDF(path, globalScaling=scaling) # list of ids
+            for i in object_id: # assume for now that the objects are movable...
+                self.movable_objects[i] = 'sdf' if objectType is None else objectType
+        else:
+            raise ValueError('Extension name of the file is not known; this method only accepts URDF/SDF files.')
+        return object_id
+
+    def loadObject(self, objectType, path=None, position=(0,0,0), orientation=(0,0,0,1), scaling=1.):
+        """
+        Load the specified object. This is a method that allows you to quickly load stuffs however it is less
+        accurate than other methods in this class.
+
+        Args:
+            objectType (str): type of the object (name, 'sphere',
+            path:
+            position:
+            orientation:
+            scaling:
+
+        Returns:
+            int or int[]: object ids
+        """
+        # check if an object has already been loaded at that place.
+
+        if path is not None:
+            objectId = self._loadSDForURDF(path, position, orientation, scaling=1., objectType=objectType)
+        else:
+            if objectType == 'sphere':
+                objectId = self.loadSphere(position)
+            elif objectType == 'box':
+                objectId = self.loadBox(position, orientation)
+            elif objectType == 'cylinder':
+                objectId = self.loadCylinder(position, orientation)
+            elif objectType == 'capsule':
+                objectId = self.loadCapsule(position, orientation)
+            else:
+                raise TypeError("Object type not known...")
+
+        return objectId
+
+    def moveObject(self, objectId, position=None, orientation=None):
+        """
+        Move the given object at the specified position and orientation.
+
+        Args:
+            objectId (int): object id
+            position (float[3]): new position of the object. If None, it will keep the old position.
+            orientation (float[4]): new orientation of the object. If None, it will keep the old orientation.
+
+        Returns:
+            None
+        """
+        if position is None:
+            position = self.sim.getBasePositionAndOrientation(objectId)[0]
+        if orientation is None:
+            orientation = self.sim.getBasePositionAndOrientation(objectId)[1]
+        self.sim.resetBasePositionAndOrientation(objectId, position, orientation)
+
+    def applyForce(self, objectId, linkId=-1, force=(0.,0.,0.), position=None, frameFlag=2):
+        """
+        Apply the given force on the specified object or link of the object.
+
+        Warnings:
+            - after each simulation step, the external forces are cleared to 0.
+            - this does not work when using `sim.setRealTimeSimulation(1)`.
+
+        Args:
+            objectId (int): object id to apply the force on
+            linkId (int): link id to apply the force, if -1 it will apply the force on the base
+            force (float[3]): Cartesian forces to be applied on the body
+            position (float[3]): position on the link where the force is applied. If None, it is the center of mass
+                of the object (or the link if specified)
+            frameFlag (int): allows to specify the coordinate system of force/position. sim.LINK_FRAME (=1) for local
+                link frame, and sim.WORLD_FRAME (=2) for world frame. By default, it is the world frame.
+
+        Returns:
+            None
+        """
+        if position is None:
+            if linkId != -1:
+                position = self.sim.getBasePositionAndOrientation(objectId)[0]
+            else:
+                position = self.sim.getLinkState(objectId, linkId)[0]
+        self.sim.applyExternalForce(objectId, linkId, force, position, frameFlag)
+
+    def getObjectColor(self, objectId):
+        """
+        Return the RGBA color of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[4]: RGBA color
+        """
+        return self.sim.getVisualShapeData(objectId)[-1]
+
+    def changeObjectColor(self, objectId, color=(1,1,1,1), linkId=-1):
+        """
+        Change the color of the given object.
+
+        Args:
+            objectId (int): object id
+            color (float[4]): RGBA color
+            linkId (int): link id
+
+        Returns:
+            None
+        """
+        self.sim.changeVisualShape(objectId, linkId, rgbaColor=color)
+
+    def getObjectPosition(self, objectId):
+        """
+        Return the position of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[3]: position of the object
+        """
+        return np.array(self.sim.getBasePositionAndOrientation(objectId)[0])
+
+    def getObjectOrientation(self, objectId):
+        """
+        Return the orientation of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[4]: orientation of the object
+        """
+        return np.array(self.sim.getBasePositionAndOrientation(objectId)[1])
+
+    def getObjectVelocity(self, objectId):
+        """
+        Return the linear and angular velocities of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[6]: linear and angular velocities of the object
+        """
+        lin_vel, ang_vel = self.sim.getBaseVelocity(objectId)
+        return np.array(lin_vel + ang_vel)
+
+    def getObjectLinearVelocity(self, objectId):
+        """
+        Return the linear velocity of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[3]: linear velocity of the object
+        """
+        return np.array(self.sim.getBaseVelocity(objectId)[0])
+
+    def getObjectAngularVelocity(self, objectId):
+        """
+        Return the angular velocity of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[3]: angular velocity of the object
+        """
+        return np.array(self.sim.getBaseVelocity(objectId)[1])
+
+    def hideObject(self, objectId):
+        """
+        Hide (visually) the given object; by making it transparent.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            None
+        """
+        color = self.getObjectColor(objectId)
+        color[-1] = 0.
+        self.changeObjectColor(objectId, color=color)
+
+    def showObject(self, objectId):
+        """
+        Show (visually) a hidden object; by making it opaque.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            None
+        """
+        color = self.getObjectColor(objectId)
+        color[-1] = 1.
+        self.changeObjectColor(objectId, color=color)
+
+    def removeObject(self, objectId):
+        """
+        Remove the object specified by its unique id from the world/simulator.
+
+        Args:
+            objectId (int, Robot): unique id of the object in the simulator.
+
+        Returns:
+            bool: True if succeeded, False if not. This method does not raise any errors.
+        """
+        if isinstance(objectId, Robot):
+            objectId = objectId.id
+        if objectId in self.robots:
+            self.robots.pop(objectId)
+        elif objectId in self.movable_objects:
+            self.movable_objects.pop(objectId)
+        elif objectId in self.immovable_objects:
+            self.immovable_objects.pop(objectId)
+        elif objectId in self.visual_objects:
+            self.visual_objects.pop(objectId)
+        else:
+            return False
+
+        self.sim.removeBody(objectId)
+        return True
+
+    def getObjectDimensions(self, objectId):
+        """
+        Return the object dimensions of the given object.
+
+        Args:
+            objectId (int): object id
+
+        Returns:
+            float[3]: dimensions of the object
+        """
+        return np.array(self.sim.getVisualShapeData[3])
+
+    def changeObjectScale(self, objectId, scale=(1.,1.,1.)):
+        """
+        Change the scale of the given object; it changes the scale for the visual and collision shapes.
+
+        Args:
+            objectId (int): object id
+            scale (float[3]): scaling factors in each direction
+
+        Returns:
+            None
+        """
+        # TODO: currently not possible in PyBullet
+        raise NotImplementedError
+
+    def getObjectAABB(self, objectId, linkId=-1):
+        """
+        Return the axis-aligned bounding box (AABB) in world space of the given object.
+
+        Args:
+            objectId (int): object id
+            linkId (int): optional link id
+
+        Returns:
+            float[3]: coordinates in world space of the min corner of the AABB
+            float[3]: coordinates in world space of the max corner of the AABB
+        """
+        bbMin, bbMax = self.sim.getAABB(objectId, linkId)
+        return np.array(bbMin), np.array(bbMax)
+
+    def getObjectIdsInAABB(self, bbMin, bbMax):
+        """
+        Get the list of object ids that have AABB overlap with a given AABB.
+
+        Args:
+            bbMin (float[3]): coordinates of the min corner of the bounding box
+            bbMax (float[3]): coordinates of the max corner of the bounding box
+
+        Returns:
+            int[N]: list of object ids
+        """
+        overlapping_objects = self.sim.getOverlappingObjects(bbMin, bbMax)
+        if overlapping_objects is None:
+            return []
+        return overlapping_objects
+
+    def isThereAnObject(self, bbMin, bbMax, except_floor=True):
+        """
+        Return True if there is an object in the bounding box defined by bbMin and bbMax.
+
+        Args:
+            bbMin (float[3]): minimum coordinates of the bounding box
+            bbMax (float[3]): maximum coordinates of the bounding box
+            except_floor (bool): if the floor should be counted as an object
+
+        Returns:
+            bool: True if there is an object in the specified bounding box
+        """
+        objects = self.sim.getOverlappingObjects(bbMin, bbMax)
+        if len(objects) > 2:
+            return True
+        if len(objects) == 0:
+            return False
+        idx = objects[0]
+        if idx == self.floor_id and except_floor:
+            return False
+        return True
+
+    def getClosestObject(self): # Not possible for now
+        raise NotImplementedError
+
+    def getClosestObjects(self, radius): # Not possible for now
+        raise NotImplementedError
+
+    def loadFloor(self, scaling=1.):
+        """
+        Load a basic floor in the world.
+
+        Args:
+            scaling (float): scaling for the floor.
+
+        Returns:
+            int: unique id of the floor in the world
+        """
+        # self.floor_id = self.sim.loadURDF('plane100.urdf', useFixedBase=True, globalScaling=scaling)
+        self.floor_id = self.sim.loadURDF('plane.urdf', useFixedBase=True, globalScaling=scaling)
+        return self.floor_id
+
+    def loadTerrain(self, heightmap, position=(0.,0.,0.), scaling=1., replace_floor=True):
+        """
+        Load the given terrain/heightmap.
+
+        Args:
+            heightmap (str, np.array[heigth,width]): path to the urdf, sdf, xml, or obj file of the terrain. It can
+                also be the path to a heightmap in tif, jpg, or png format. Alternatively, it can represents
+                the heightmap as a 2D numpy array where the values represent the height in meters.
+            position (float[3]): position of the terrain. By default, origin of the world.
+            scaling (float): scaling factor of the terrain
+            replace_floor (bool): if True, it will replace the existing floor. Be careful, that it can cause
+                problems with collision.
+
+        Returns:
+            int: unique id of the terrain.
+
+        Modules to create mesh files (.obj):
+        - `mayavi`: https://docs.enthought.com/mayavi/mayavi/
+        - `openmesh`: https://www.openmesh.org/media/Documentations/OpenMesh-6.2-Documentation/a00036.html
+        - `bpy`: Blender python API - https://docs.blender.org/api/current/
+        """
+        if self.floor_id > -1:  # there is already a floor defined
+            if replace_floor:
+                self.sim.removeBody(self.floor_id)
+
+        if heightmap[-4:] == 'obj':  # obj (mesh)
+            self.floor_id = self.loadMesh(heightmap, position, mass=0., scale=[scaling]*3,
+                                          flags=self.sim.GEOM_FORCE_CONCAVE_TRIMESH, objectType='terrain')
+        elif heightmap[-4:] == '.sdf':  # SDF
+            self.floor_id = self.loadSDF(filename=heightmap, scaling=scaling)
+        elif heightmap[-4:] == '.xml':  # MJCF
+            self.floor_id = self.loadMJCF(filename=heightmap, scaling=scaling)
+        elif heightmap[-5:] == '.urdf':  # URDF
+            self.floor_id = self.sim.loadURDF(heightmap, position, useFixedBase=True, globalScaling=scaling)
+        else: # heightmap (.tif, .jpg, .png, etc)
+            def create_mesh(heightmap):
+                # create 3D mesh
+                # create3DMesh(heightmap, filename=, subsample=, interpolate_fct=)
+                pass
+
+            # create process to create the 3D mesh
+            process = multiprocessing.Process(target=create_mesh, args=(heightmap,))
+            process.start()
+            process.join()
+
+            # remove mesh from memory
+            os.remove(filename + '.obj')  # remove mesh from memory
+            # os.remove(filename + '.mtl')
+
+            # apply the given texture if provided
+            if isinstance(texture, str):
+                texture = self.sim.loadTexture(texture)
+                self.sim.changeVisualShape(heightmap, -1, textureUniqueId=texture)
+
+        return self.floor_id
+
+    def loadHeightmap(self, heightmap, texture=None, position=(0.,0.,0.), scale=1.):
+        """
+        Load a heightmap for the terrain.
+
+        Args:
+            heightmap (str, np.ndarray[M,M]): if string, filename containing the heightmap in  the png, jpg, obj format
+                if a 2D numpy arrays, the values represent the height in meters.
+
+        Returns:
+            int: unique id of the floor
+
+        Modules to create mesh files (.obj):
+        - `mayavi`: https://docs.enthought.com/mayavi/mayavi/
+        - `openmesh`: https://www.openmesh.org/media/Documentations/OpenMesh-6.2-Documentation/a00036.html
+        - `bpy`: Blender python API - https://docs.blender.org/api/current/
+        """
+
+        extension, filename = None, 'generated_file'
+
+        # if string, get the extension and name of the file
+        if isinstance(heightmap, str):
+            extension = heightmap.split('.')[-1]
+            filename = heightmap[:-4]
+
+            # if picture (png/jpg), load 2D array (grayscale values)
+            if extension == 'png' or extension == 'jpg':
+                heightmap = cv2.imread(filename, cv2.IMREAD_GRAYSCALE)
+
+        # if 2D numpy array, create the mesh (in the .obj format)
+        if isinstance(heightmap, np.ndarray):
+            heightmap = heightmap.astype(np.float)
+            mlab.surf(heightmap)
+            mlab.savefig(filename + '.obj')
+            mlab.close()
+            # TODO: set the map of the world
+
+        elif extension != 'obj':
+            raise ValueError("Expecting heightmap in a png/jpg/obj format")
+
+        # load the mesh of the terrain
+        heightmap = self.loadTerrain(filename, position=position, scaling=scale)
+
+        # change the dynamic properties of the terrain based on the given type (grass, mud, bumpy
+        # WARNING: only 1 type can be specified. Currently, it is not possible to have different dynamic properties
+        # for different parts of the terrain. Loading multiple terrains is currently not supported (there is only
+        # 1 unique id for the floor).
+
+        # apply the given texture if provided
+        if isinstance(texture, str):
+            texture = p.loadTexture(texture)
+            self.sim.changeVisualShape(heightmap, -1, textureUniqueId=texture)
+
+        # remove mesh from memory
+        os.remove(filename + '.obj') # remove mesh from memory
+        os.remove(filename + '.mtl')
+
+        # replace the floor if there is already one present
+        if self.floor_id > -1:
+            self.sim.removeBody(self.floor_id)
+        self.floor_id = heightmap
+
+        return self.floor_id
+
+    # aliases
+    loadDEM = loadHeightmap
+
+    def generateHeightmap(self, filename=None, algo=None):
+        """
+        Generate a heightmap (png) using the specified algorithm. We provide 4 algorithms to generate this last one:
+        1. Random
+        2. Diamond algorithm
+        3.
+        4.
+
+        By default, the diamond algorithm is used.
+
+        Args:
+            filename (None, str): if not None, it will save the heightmap in the format specified by the filename.
+                The format is inferred from the filename. Supported ones include '.png', '.jpg', and '.obj'.
+
+        Returns:
+            np.ndarray: heightmap
+        """
+        pass
+
+    def generateTerrain(self, filename=None):
+        pass
+
+    def loadStadium(self, scaling=1.):
+        """
+        Load a stadium as the floor.
+
+        Args:
+            scaling (float): scaling for the stadium.
+
+        Returns:
+            int: unique id of the floor/stadium in the world
+        """
+        if self.floor_id > -1:
+            self.sim.removeBody(self.floor_id)
+        self.floor_id = self.sim.loadURDF('stadium.urdf', useFixedBase=True, globalScaling=scaling)
+        return self.floor_id
+
+    def loadJapaneseMonastery(self, scaling=1.):
+        """
+        Load a japanese monastery.
+
+        Args:
+            scaling (float): scaling for the japanese monastery
+
+        Returns:
+            int: unique id of the monastery
+        """
+        # replace the floor if there is already one present
+        if self.floor_id > -1:
+            self.sim.removeBody(self.floor_id)
+        self.floor_id = self.sim.loadURDF('samurai.urdf', useFixedBase=True, globalScaling=scaling)
+        return self.floor_id
+
+    def loadBotLab(self, scaling=2.):
+        return self.loadSDF('sdf/botlab/botlab.sdf', scaling=scaling)
+
+    def loadStairs(self):
+        pass
+
+    def createCity(self):
+        pass
+
+    def createParkour(self):
+        pass
+
+    def createMountainWithPath(self):
+        pass
+
+    def loadTable(self, position, scaling=1.):
+        """
+        Load a table in the world.
+
+        Args:
+            position (float[3]): position of the table
+            scaling (float): scaling for the table
+
+        Returns:
+            int: unique id of the table
+        """
+        table = self.sim.loadURDF('table/table.urdf', globalScaling=scaling)
+        self.movable_objects[table] = 'table'
+        return table
+
+    def loadKivaShelf(self, scaling=1.):
+        """
+        Load a Kiva shelf.
+
+        Args:
+            scaling (float): scaling of the shelf
+
+        Returns:
+            int: unique id of the shelf
+        """
+        shelf = self.sim.loadSDF('kiva_shelf/model.sdf', globalScaling=scaling)[0]
+        self.movable_objects[shelf] = 'shelf'
+        return shelf
+
+    def loadVisualSphere(self, position, radius=0.5, color=(1,1,1,1)):
+        """
+        Load a visual sphere in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the sphere in Cartesian world space (in meters)
+            radius (float): radius of the sphere (in meters)
+            color (int[4]): color of the sphere (by default: white and opaque)
+
+        Returns:
+            int: unique id of the visual sphere in the world
+        """
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_SPHERE, radius=radius, rgbaColor = color)
+        sphere = self.sim.createMultiBody(baseMass = 0.,
+                                          baseVisualShapeIndex = visualShape,
+                                          basePosition = position)
+        self.visual_objects[sphere] = 'sphere'
+        return sphere
+
+    def loadSphere(self, position, mass=1., radius=0.5, color=(1,1,1,1)):
+        """
+        Load a sphere in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the sphere in Cartesian world space (in meters)
+            mass (float): mass of the sphere (in kg). If mass = 0, the sphere won't move even if there is a collision.
+            radius (float): radius of the sphere (in meters).
+            color (int[4]): color of the sphere (by default: white and opaque)
+
+        Returns:
+            int: unique id of the sphere in the world
+        """
+        collisionShape = self.sim.createCollisionShape(self.sim.GEOM_SPHERE,
+                                                       radius = radius)
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_SPHERE,
+                                                 radius = radius,
+                                                 rgbaColor = color)
+        sphere = self.sim.createMultiBody(baseMass = mass,
+                                          baseCollisionShapeIndex = collisionShape,
+                                          baseVisualShapeIndex = visualShape,
+                                          basePosition = position)
+        if mass == 0.0:
+            self.immovable_objects[sphere] = 'sphere'
+        else:
+            self.movable_objects[sphere] = 'sphere'
+
+        return sphere
+
+    def loadVisualBox(self, position, orientation=(0,0,0,1), dimensions=(1.,1.,1.), color=(1,1,1,1)):
+        """
+        Load a visual box in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the box in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the box using quaternion. If np.quaternion then it
+                uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w).
+            dimensions (float[3]): dimensions of the box
+            color (int[4]): color of the box (by default: white and opaque)
+
+        Returns:
+            int: unique id of the box in the world
+        """
+        dimensions = np.array(dimensions) / 2.
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_BOX, halfExtents=dimensions, rgbaColor = color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        box = self.sim.createMultiBody(baseMass = 0.,
+                                       baseVisualShapeIndex = visualShape,
+                                       basePosition = position,
+                                       baseOrientation = orientation)
+        self.visual_objects[box] = 'box'
+        return box
+
+    def loadBox(self, position, orientation=(0,0,0,1), mass=1., dimensions=(1.,1.,1.), color=(1,1,1,1)):
+        """
+        Load a box in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the box in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the box using quaternion. If np.quaternion then it
+                uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w).
+            mass (float): mass of the box (in kg). If mass = 0, the box won't move even if there is a collision.
+            dimensions (float[3]): dimensions of the box
+            color (int[4]): color of the box (by default: white and opaque)
+
+        Returns:
+            int: unique id of the box in the world
+        """
+        dimensions = np.array(dimensions) / 2.
+        collisionShape = self.sim.createCollisionShape(self.sim.GEOM_BOX, halfExtents=dimensions)
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_BOX, halfExtents=dimensions, rgbaColor=color)
+        orientation = self.quaternion_converter.convertFrom(orientation)  # convert to list
+        box = self.sim.createMultiBody(baseMass = mass,
+                                       baseCollisionShapeIndex = collisionShape,
+                                       baseVisualShapeIndex = visualShape,
+                                       basePosition = position,
+                                       baseOrientation = orientation)
+        if mass == 0.0:
+            self.immovable_objects[box] = 'box'
+        else:
+            self.movable_objects[box] = 'box'
+        return box
+
+    def loadVisualCylinder(self, position, orientation=(0,0,0,1), radius=0.5, height=1., color=(1,1,1,1)):
+        """
+        Load a visual cylinder in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the cylinder in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the cylinder using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            radius (float): radius of the cylinder (in meters)
+            height (float): height of the cylinder (in meters)
+            color (int[4]): color of the cylinder (by default: white and opaque)
+
+        Returns:
+            int: unique id of the cylinder in the world
+        """
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_CYLINDER, radius=radius, length=height,
+                                                 rgbaColor = color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        cylinder = self.sim.createMultiBody(baseMass = 0.,
+                                            baseVisualShapeIndex = visualShape,
+                                            basePosition = position,
+                                            baseOrientation = orientation)
+        self.visual_objects[cylinder] = 'cylinder'
+        return cylinder
+
+    def loadCylinder(self, position, orientation=(0,0,0,1), mass=1., radius=0.5, height=1., color=(1,1,1,1)):
+        """
+        Load a cylinder in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the cylinder in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the cylinder using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            mass (float): mass of the cylinder (in kg). If mass = 0, it won't move even if there is a collision.
+            radius (float): radius of the cylinder (in meters)
+            height (float): height of the cylinder (in meters)
+            color (int[4]): color of the cylinder (by default: white and opaque)
+
+        Returns:
+            int: unique id of the cylinder in the world
+        """
+        collisionShape = self.sim.createCollisionShape(self.sim.GEOM_CYLINDER, radius=radius, height=height)
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_CYLINDER, radius=radius, length=height,
+                                                 rgbaColor = color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        cylinder = self.sim.createMultiBody(baseMass = mass,
+                                            baseCollisionShapeIndex = collisionShape,
+                                            baseVisualShapeIndex = visualShape,
+                                            basePosition = position,
+                                            baseOrientation = orientation)
+        if mass == 0.0:
+            self.immovable_objects[cylinder] = 'cylinder'
+        else:
+            self.movable_objects[cylinder] = 'cylinder'
+        return cylinder
+
+    def loadVisualCapsule(self, position, orientation=(0,0,0,1), radius=0.5, height=1., color=(1,1,1,1)):
+        """
+        Load a visual capsule in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the capsule in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the capsule using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            radius (float): radius of the capsule (in meters)
+            height (float): height of the capsule (in meters)
+            color (int[4]): color of the capsule (by default: white and opaque)
+
+        Returns:
+            int: unique id of the capsule in the world
+        """
+        height = height/2.
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_CAPSULE, radius=radius, length=height,
+                                                 rgbaColor=color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        capsule = self.sim.createMultiBody(baseMass = 0.,
+                                            baseVisualShapeIndex = visualShape,
+                                            basePosition = position,
+                                            baseOrientation = orientation)
+        self.visual_objects[capsule] = 'capsule'
+        return capsule
+
+    def loadCapsule(self, position, orientation=(0,0,0,1), mass=1., radius=0.5, height=1., color=(1,1,1,1)):
+        """
+        Load a capsule in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position of the capsule in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the capsule using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            mass (float): mass of the capsule (in kg). If mass = 0, it won't move even if there is a collision.
+            radius (float): radius of the capsule (in meters)
+            height (float): height of the capsule (in meters)
+            color (int[4]): color of the capsule (by default: white and opaque)
+
+        Returns:
+            int: unique id of the capsule in the world
+        """
+        height = height / 2.
+        collisionShape = self.sim.createCollisionShape(self.sim.GEOM_CAPSULE, radius=radius, height=height)
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_CAPSULE, radius=radius, length=height,
+                                                 rgbaColor = color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        capsule = self.sim.createMultiBody(baseMass = mass,
+                                            baseCollisionShapeIndex = collisionShape,
+                                            baseVisualShapeIndex = visualShape,
+                                            basePosition = position,
+                                            baseOrientation = orientation)
+        if mass == 0.0:
+            self.immovable_objects[capsule] = 'capsule'
+        else:
+            self.movable_objects[capsule] = 'capsule'
+        return capsule
+
+    def loadVisualMesh(self, filename, position, orientation=(0,0,0,1), scale=(1.,1.,1.), color=(1,1,1,1),
+                       objectType='mesh'):
+        """
+        Load a visual mesh in the world (only available in the simulator).
+
+        Args:
+            filename (str): path to file for the mesh. Currently, only Wavefront .obj. It will create convex hulls
+                for each object (marked as 'o') in the .obj file.
+            position (float[3]): position of the mesh in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the mesh using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            scale (float[3]): scale the mesh in the (x,y,z) directions
+            color (int[4]): color of the mesh (by default: white and opaque)
+
+        Returns:
+            int: unique id of the mesh in the world
+        """
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_MESH, fileName=filename, meshScale=scale,
+                                                 rgbaColor=color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        mesh = self.sim.createMultiBody(baseMass = 0.,
+                                        baseVisualShapeIndex = visualShape,
+                                        basePosition = position,
+                                        baseOrientation = orientation)
+        self.visual_objects[mesh] = objectType
+        return mesh
+
+    def loadMesh(self, filename, position, orientation=(0,0,0,1), mass=1., scale=(1.,1.,1.), color=(1,1,1,1),
+                 flags=None, objectType='mesh'):
+        """
+        Load a mesh in the world (only available in the simulator).
+
+        Args:
+            filename (str): path to file for the mesh. Currently, only Wavefront .obj. It will create convex hulls
+                for each object (marked as 'o') in the .obj file.
+            position (float[3]): position of the mesh in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation of the mesh using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            mass (float): mass of the mesh (in kg). If mass = 0, it won't move even if there is a collision.
+            scale (float[3]): scale the mesh in the (x,y,z) directions
+            color (int[4]): color of the mesh (by default: white and opaque)
+            flags (int, None): if flag = `sim.GEOM_FORCE_CONCAVE_TRIMESH` (=1), this will create a concave static
+                triangle mesh. This should not be used with dynamic/moving objects, only for static (mass=0) terrain.
+
+        Returns:
+            int: unique id of the mesh in the world
+        """
+        if flags is None:
+            collisionShape = self.sim.createCollisionShape(self.sim.GEOM_MESH, fileName=filename, meshScale=scale)
+        else:
+            collisionShape = self.sim.createCollisionShape(self.sim.GEOM_MESH, fileName=filename, meshScale=scale,
+                                                           flags=flags)
+        visualShape = self.sim.createVisualShape(self.sim.GEOM_MESH, fileName=filename, meshScale=scale,
+                                                 rgbaColor=color)
+        orientation = self.quaternion_converter.convertFrom(orientation) # convert to list
+        mesh = self.sim.createMultiBody(baseMass = mass,
+                                        baseCollisionShapeIndex=collisionShape,
+                                        baseVisualShapeIndex = visualShape,
+                                        basePosition = position,
+                                        baseOrientation = orientation)
+        if mass == 0.0:
+            self.immovable_objects[mesh] = objectType
+        else:
+            self.movable_objects[mesh] = objectType
+        return mesh
+
+    # The following commented code does not work currently because URDF_GEOM_PLANE is not set in Bullet
+    # Note that a plane can be seen as a thin box.
+    # def loadVisualPlane(self, position, orientation, normal=(0.,0.,1.), color=(1,1,1,1)):
+    #     """
+    #     Load a visual plane in the world (only available in the simulator).
+    #
+    #     Args:
+    #         position (float[3]): position of the plane in the Cartesian world space (in meters)
+    #         orientation (float[4], np.quaternion): orientation of the plane using quaternion.
+    #             If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+    #         normal (float[3]): normal to the plane
+    #         color (int[4]): color of the plane (by default: white and opaque)
+    #
+    #     Returns:
+    #         int: unique id of the plane in the world
+    #     """
+    #     visualShape = self.sim.createVisualShape(self.sim.GEOM_PLANE, planeNormal=normal, rgbaColor=color)
+    #     orientation = self.quaternion_converter.convertFrom(orientation)  # convert to list
+    #     plane = self.sim.createMultiBody(baseMass=0.,
+    #                                     baseVisualShapeIndex=visualShape,
+    #                                     basePosition=position,
+    #                                     baseOrientation=orientation)
+    #     self.visual_objects[plane] = 'plane'
+    #     return plane
+    #
+    # def loadPlane(self, position, orientation, mass=1., normal=(0.,0.,1.), color=(1,1,1,1)):
+    #     """
+    #     Load a plane in the world (only available in the simulator).
+    #
+    #     Args:
+    #         position (float[3]): position of the plane in the Cartesian world space (in meters)
+    #         orientation (float[4], np.quaternion): orientation of the plane using quaternion.
+    #             If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+    #         mass (float): mass of the plane (in kg). If mass = 0, it won't move even if there is a collision.
+    #         normal (float[3]): normal to the plane
+    #         color (int[4]): color of the plane (by default: white and opaque)
+    #
+    #     Returns:
+    #         int: unique id of the plane in the world
+    #     """
+    #     collisionShape = self.sim.createCollisionShape(self.sim.GEOM_PLANE, planeNormal=normal)
+    #     visualShape = self.sim.createVisualShape(self.sim.GEOM_PLANE, planeNormal=normal, rgbaColor=color)
+    #     orientation = self.quaternion_converter.convertFrom(orientation)  # convert to list
+    #     plane = self.sim.createMultiBody(baseMass=mass,
+    #                                      baseCollisionShapeIndex=collisionShape,
+    #                                      baseVisualShapeIndex=visualShape,
+    #                                      basePosition=position,
+    #                                      baseOrientation=orientation)
+    #     if mass == 0.0:
+    #         self.immovable_objects[plane] = 'plane'
+    #     else:
+    #         self.movable_objects[plane] = 'plane'
+    #     return plane
+
+    # Temporary because the code above doesn't work
+    def loadPlane(self, position=(0.,0.,0.), orientation=(0.,0.,0.,1.), scaling=1.):
+        """
+        Load a plane in the world (only available in the simulator)
+
+        Args:
+            position (float[3]): position of the plane
+            orientation (float[4]): orientation of the plane
+            scaling (float): scaling of the plane
+
+        Returns:
+            int: unique id of the plane
+        """
+        plane = self.sim.loadURDF('plane.urdf', position, orientation, useFixedBase=True, globalScaling=scaling)
+        self.immovable_objects[plane] = plane
+        return plane
+
+    def loadVisualEllipsoid(self, position, orientation=(0,0,0,1), scale=(1., 1., 1.), color=(1,1,1,1)):
+        """
+        Load a visual ellipsoid (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the ellipsoid in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/ellipsoid.obj'
+        return self.loadVisualMesh(filename, position, orientation, scale=scale, color=color)
+
+    def loadEllipsoid(self, position, orientation=(0,0,0,1), mass=1., scale=(1., 1., 1.), color=(1,1,1,1)):
+        """
+        Load a ellipsoid (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            mass (float): mass [kg]
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the ellipsoid in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/ellipsoid.obj'
+        return self.loadMesh(filename, position, orientation, mass=mass, scale=scale, color=color)
+
+    def loadVisualRightTriangularPrism(self, position, orientation=(0,0,0,1), scale=(1., 1., 1.), color=(1,1,1,1)):
+        """
+        Load a visual right triangular prism (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the triangular prism in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/right_triangular_prism.obj'
+        return self.loadVisualMesh(filename, position, orientation, scale=scale, color=color)
+
+    def loadRightTriangularPrism(self, position, orientation=(0,0,0,1), mass=1., scale=(1., 1., 1.), color=(1,1,1,1)):
+        """
+        Load a right triangular prism (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            mass (float): mass [kg]
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the triangular prism in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/right_triangular_prism.obj'
+        return self.loadMesh(filename, position, orientation, mass=mass, scale=scale, color=color)
+
+    def loadVisualCone(self, position, orientation=(0,0,0,1), scale=(1., 1., 1.), color=(1,1,1,1)):
+        """
+        Load a visual cone (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the cone in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/cone.obj'
+        return self.loadVisualMesh(filename, position, orientation, scale=scale, color=color)
+
+    def loadCone(self, position, orientation=(0,0,0,1), mass=1., scale=(1.,1.,1.), color=(1,1,1,1)):
+        """
+        Load a visual cone (using a mesh) in the world (only available in the simulator).
+
+        Args:
+            position (float[3]): position in the Cartesian world space (in meters)
+            orientation (float[4], np.quaternion): orientation using quaternion.
+                If np.quaternion then it uses the convention (w,x,y,z). If float[4], it uses the convention (x,y,z,w)
+            scale (float[3]): scale in the (x,y,z) directions
+            color (int[4]): color (by default: white and opaque)
+
+        Returns:
+            int: unique id of the cone in the world
+        """
+        filename = os.path.dirname(__file__) + '/meshes/cone.obj'
+        return self.loadMesh(filename, position, orientation, mass=mass, scale=scale, color=color)
+
+    def loadVisualArrow(self, position, orientation=(0,0,0,1), scale=(1.,1.,1.), color=(1,1,1,1)):
+        pass
+
+    def loadArrow(self, position, orientation=(0,0,0,1), mass=1., scale=(1.,1.,1.), color=(1,1,1,1)):
+        pass
+
+    def distribute_objects(self, distributor, objects):
+        pass
+
+    def getDynamicsInfo(self, bodyId, linkId):
+        """
+        Return the dynamics information about objects that are in the world.
+
+        Args:
+            bodyId: object unique id
+            linkId: link index (or -1 for the base)
+
+        Returns:
+            float: mass in kg
+            float: lateral friction coefficient
+            np.array[3]: local inertia diagonal
+            np.array[3]: position of inertial frame in local coordinates of joint frame
+            np.array[4]: orientation of inertial frame in local coordinates of joint frame
+            float: restitution coefficient (if 0, the object does not bounce)
+            float: rolling friction coefficient orthogonal to contact normal
+            float: spinning friction coefficient around contact normal
+            float: -1 if not available, damping of contact constraints
+            float: -1 if not available, stiffness contact constraints
+        """
+        info = self.sim.getDynamicsInfo(bodyId, linkId)
+        local_inertia_diag, local_inertial_pos, local_inertial_orn = info[2:5]
+        local_inertia_diag = np.array(local_inertia_diag)
+        local_inertial_pos = np.array(local_inertial_pos)
+        local_inertial_orn = np.array(local_inertial_orn)
+        return info[:2] + [local_inertia_diag, local_inertial_pos, local_inertial_orn] + info[5:]
+
+    def changeDynamics(self, lateralFriction, spinningFriction, rollingFriction, linearDamping, angularDamping,
+                       contactStiffness=-1, contactDamping=-1):
+        self.sim.changeDynamics(bodyUniqueId=self.floor_id, linkIndex=-1, lateralFriction=lateralFriction,
+                                spinningFriction=spinningFriction, rollingFriction=rollingFriction,
+                                linearDamping=linearDamping, angularDamping=angularDamping)
+
+
+class BasicWorld(World):
+    r"""Basic World class.
+
+    It creates a basic world with a floor and set the gravity.
+    """
+
+    def __init__(self, simulator, floor_path=None, set_gravity=True, scaling=1., lateralFriction=.9,
+                 spinningFriction=0., rollingFriction=0., contactStiffness=-1, contactDamping=-1):
+        super(BasicWorld, self).__init__(simulator, set_gravity=set_gravity)
+
+        if floor_path is None:
+            self.loadFloor(scaling=scaling)
+            self.changeDynamics(lateralFriction=lateralFriction, spinningFriction=spinningFriction,
+                                rollingFriction=rollingFriction, linearDamping=0, angularDamping=0,
+                                contactStiffness=30000)
+            self.simulator.setDefaultContactERP(0.9)
+        else:
+            self.loadTerrain(floor_path, replace_floor=True)
+
+        print(self.sim.getDynamicsInfo(self.floor_id, -1))
+
+
+class RobotPartyWorld(BasicWorld):
+    r"""Robot Party World.
+
+    It creates a basic world (see `BasicWorld`) with each available robot loaded into the world.
+    """
+
+    def __init__(self, simulator):
+        super(RobotPartyWorld, self).__init__(simulator)
+
+
+class DRCWorld(World):
+    r"""Darpa Robotics Challenge World
+
+    This recreates the Darpa Robotics Challenge world.
+    """
+
+    def __init__(self, simulator):
+        super(DRCWorld, self).__init__(simulator)
+
+
+# Tests
+if __name__ == '__main__':
+    import numpy as np
+    from itertools import count
+    from pyrobolearn.simulators import BulletSim
+
+    # create simulator
+    sim = BulletSim()
+
+    # create world
+    world = BasicWorld(sim)
+    # world = World(sim)
+    # world.loadBotLab()
+
+    # world.loadSDF('/home/brian/Downloads/cobblestones_origin/model.sdf', scaling=1)
+
+    # world.loadMesh('/home/brian/Downloads/cobblestones_origin/mesh/cobblestones.obj',
+    #                position=[0, 0, 0],
+    #                orientation=[.707, 0, 0, .707],
+    #                mass=0.,
+    #                scale=(1., 1., 1.),
+    #                # color=[1, 0, 0, 1],
+    #                flags=1)
+
+    # world.loadMesh('/home/brian/save/code/random-terrain-generator-master/terrain.obj',
+    #                position=[0, 0, -2],
+    #                orientation=[.707, 0, 0, .707],
+    #                mass=0.,
+    #                scale=(.1, .1, .1),
+    #                # color=[1, 0, 0, 1],
+    #                flags=1)
+
+    # world.loadMesh('bedroom.obj', [0, 0, 0], mass=0., color=[0.4, 0.4, 0.4, 1], flags=1) #, scale=(0.01, 0.01, 0.01))
+    # world.loadMesh('mtsthelens.obj', [0, 0, -8], mass=0., color=[0.2, 0.5, 0.2, 1], flags=1, scale=(0.01,0.01,0.01))
+    # world.loadMesh('meshes/terrain.obj', [0,0,0], mass=0., color=[1,1,1,1], flags=1)
+    # world.loadMesh('/home/brian/heightmap_old.obj', [0,0,0], mass=0., scale=(0.1,0.1,0.01), color=[1,1,1,1], flags=1)
+    # world.loadMesh('/home/brian/Downloads/arab_desert/desert.obj',
+    #                position=[0, 0, -10.8], orientation=(0.707,0,0,0.707), mass=0., scale=(1, 1, 1),
+    #                color=[1, 1, 1, 1], flags=1)
+    # world.loadMesh('/home/brian/PhD-repos/pyrobolearn/tests/heightmap_test_exp.obj', [0, 0, 0], mass=0.,
+    #                scale=(0.1, 0.1, 0.015),
+    #                color=[1, 0, 0, 1],
+    #                flags=1)
+
+    # world.loadRobot('Cogimon', position=[0,0,1.])
+
+    # world.loadRobot('coman', useFixedBase=False)
+    # sphere = world.loadVisualSphere([1.,0,1.], color=(1,0,0,0.5))
+    # world.loadVisualBox([-1,0,1], dimensions=[1.,1.,1.], color=[0,0,1,0.5])
+    # world.loadCylinder([0, -1, 1], color=[1, 0, 0, 1])
+    #  world.loadCapsule([0, 1, 1],  color=[1, 0, 0, 1])
+    #  world.loadMesh(filename='duck.obj', [1, 0, 2], [0.707, 0, 0, 0.707], mass=0.1, scale=[0.1,0.1,0.1],
+    #                 color=[1, 0, 0, 1])
+
+    # from utils.orientation import RotX, RotY, RotZ, getQuaternionFromMatrix
+    # R = RotZ(np.deg2rad(90.))
+    # q = tuple(getQuaternionFromMatrix(R))
+    # world.loadEllipsoid([0,0,2], orientation=q, mass=0, scale=[2.,1.,1.], color=(0,0,1,1))
+    # world.loadCone([1,1,2])
+    world.loadRightTriangularPrism([-1,-1,2])
+    # floor = world.loadMesh(filename='box', [1, 0, 2], mass=0, color=(1, 1, 1, 1))
+
+    # floor = world.loadFloor()
+    # print(p.getDynamicsInfo(floor, -1))
+    # floor = world.loadMesh([1,0,0], [0,0,0,1], filename='grass.obj', mass=0, color=(1,1,1,1))
+    # texture = sim.loadTexture('grass.png')
+    # sim.changeVisualShape(floor, -1, textureUniqueId=texture)
+
+    # grass = sim.loadURDF('grass.urdf')
+    # texture = sim.loadTexture('grass.png')
+    # sim.changeVisualShape(grass, -1, textureUniqueId=texture)
+
+    # vs = world.loadVisualSphere([0,0,2], radius=0.1, color=(0,0,1,1))
+
+    # path = '/home/brian/bullet3/data/'
+    # objects = p.loadMJCF(path+"MPL/mpl2.xml")
+
+    # world.loadPlane([1.,0.,1.], [0,0,0,1], color=(1,0,0,1))
+
+    T = 1000
+    w = 2.*np.pi / T
+    red = True
+    # loop
+    for t in count():
+        # p = world.getObjectPosition(sphere)
+        # p -= 0.001 * np.array([1.,0,0])
+        p = np.array([np.cos(w*t), np.sin(w*t), 1.])
+        # world.moveObject(sphere, p)
+        # if t % T == 0:
+        #     if red:
+        #         world.changeObjectColor(sphere, (1,0,0,0.5))
+        #     else:
+        #         world.changeObjectColor(sphere, (0,0,1,0.5))
+        #     red = not red
+        # world.moveObject(sphere)
+        world.step(sleep_dt=1./240)