add robot examples + update installation steps

examples/robots/softhand.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+"""Provide the Soft Hand robotic platform.
+"""
+
+from itertools import count
+from pyrobolearn.simulators import BulletSim
+from pyrobolearn.worlds import BasicWorld
+from pyrobolearn.robots import SoftHand
+
+# Create simulator
+sim = BulletSim()
+
+# create world
+world = BasicWorld(sim)
+
+# create robot
+left_hand = SoftHand(sim, init_pos=(-0.15, 0, 0), left=True)
+right_hand = SoftHand(sim, init_pos=(0.15, 0., 0.), init_orient=(0, 0, 1, 0), left=False)
+
+# print information about the robot
+left_hand.printRobotInfo()
+# H = left_hand.calculateMassMatrix()
+# print("Inertia matrix: H(q) = {}".format(H))
+
+# Position control using sliders
+# left_hand.addJointSlider()
+
+left_hand.setJointPositions([0.] * left_hand.getNumberOfDoFs())
+right_hand.setJointPositions([0.] * right_hand.getNumberOfDoFs())
+
+for i in count():
+    # left_hand.updateJointSlider()
+    # left_hand.setJointPositions([0.] * left_hand.getNumberOfDoFs())
+    # right_hand.setJointPositions([0.] * right_hand.getNumberOfDoFs())
+
+    world.step(sleep_dt=1./240)