PyBullet: add ANYmal.py quadruped example, usage:

pip install pybullet
python -m pybullet_envs.examples.ANYmal

examples/pybullet/gym/pybullet_envs/examples/ANYmal.py

@@ -0,0 +1,51 @@
+import pybullet as p
+import pybullet_data
+
+import time
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+
+ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
+
+p.changeVisualShape(ground,-1,rgbaColor=[1,1,1,0.8])
+#p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
+
+print("hasNumpy = ",p.isNumpyEnabled())
+
+
+anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[3,3,3], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
+p.resetSimulation()
+ground = p.loadURDF("plane.urdf",[0,0,0], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
+
+#todo, tweak this value to trade solver quality versus performance
+p.setPhysicsEngineParameter(solverResidualThreshold=1e-2)
+
+index = 0
+numX = 3 
+numY = 3
+
+for i in range (numX):
+	for j in range (numY):
+		print("loading animal ", index)
+		index+=1
+		
+		#anymal = p.loadURDF("atlas/atlas_v4_with_multisense.urdf",[i*3,j*3,1], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES)
+		anymal = p.loadURDF("quadruped/ANYmal/robot.urdf",[(i-numX/2)*2,(j-numY/2)*2,0.6], flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES, useMaximalCoordinates=False)
+		
+		for j in range(p.getNumJoints(anymal)):
+			p.setJointMotorControl2(anymal,j,p.POSITION_CONTROL,targetPosition=0, force=500)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+
+p.setGravity(0,0,-10)
+#p.setRealTimeSimulation(1)
+
+while (1):
+	p.stepSimulation()
+	time.sleep(1./240.)
+	
+