add minitaur class and test to the pull request

examples/pybullet/minitaur_test.py

@@ -0,0 +1,33 @@
+import pybullet as p
+
+from minitaur import Minitaur
+import time
+import math
+import numpy as np
+
+def main(unused_args):
+  timeStep = 0.01
+  c = p.connect(p.SHARED_MEMORY)
+  if (c<0):
+      c = p.connect(p.GUI)
+  p.resetSimulation()
+  p.setTimeStep(timeStep)
+  p.loadURDF("plane.urdf")
+  p.setGravity(0,0,-10)
+
+  minitaur = Minitaur()
+  amplitude = 0.24795664427
+  speed = 0.2860877729434
+  for i in range(1000):
+    a1 = math.sin(i*speed)*amplitude+1.57
+    a2 = math.sin(i*speed+3.14)*amplitude+1.57
+    joint_values = [a1, -1.57, a1, -1.57, a2, -1.57, a2, -1.57]
+    minitaur.applyAction(joint_values)
+
+    p.stepSimulation()
+#    print(minitaur.getBasePosition())
+    time.sleep(timeStep)
+  final_distance = np.linalg.norm(np.asarray(minitaur.getBasePosition()))
+  print(final_distance)
+
+main(0)