add HelloBulletRobotics C++ example with similar API to PyBullet

Add ANYmal quadruped robot URDF to pybullet_data

examples/RobotSimulator/HelloBulletRobotics.cpp

@@ -0,0 +1,37 @@
+
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
+
+int main(int argc, char* argv[])
+{
+	b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
+
+	bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
+	if (!isConnected)
+	{
+		printf("Using Direct mode\n");
+		isConnected = sim->connect(eCONNECT_DIRECT);
+	} else
+	{
+		printf("Using shared memory\n");
+	}
+	//remove all existing objects (if any)
+	sim->resetSimulation();
+	
+	int planeUid = sim->loadURDF("plane.urdf");
+	printf("planeUid = %d\n", planeUid);
+	
+	int r2d2Uid = sim->loadURDF("r2d2.urdf");
+	printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
+
+	b3Vector3 basePosition = b3MakeVector3(0,0,1);
+	b3Quaternion baseOrientation = b3Quaternion(0,0,0,1);
+
+	sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);	
+	sim->setGravity(b3MakeVector3(0,0,-10));
+	
+	while (sim->isConnected())
+	{
+		sim->stepSimulation();
+	}
+	delete sim;
+}