Add a physics simulation example with PyBullet

Author: stephane-caron

CHANGELOG.md

@@ -11,6 +11,7 @@ All notable changes to this project will be documented in this file.
 ### Fixed
 
 - cache: Only call git checkout when it is not head of the working copy
+- Example: simulated loaded robot description in PyBullet
 
 ## [1.13.0] - 2024-10-30
 

examples/simulate_in_pybullet.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""
+Load a robot description in a PyBullet physics simulation.
+
+This example requires PyBullet, which can be installed with conda or pip.
+"""
+
+import argparse
+import time
+
+import pybullet
+import pybullet_data
+from robot_descriptions.loaders.pybullet import load_robot_description
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("name", help="name of the robot description")
+    parser.add_argument(
+        "--duration",
+        type=float,
+        default=10.0,
+        help="duration of the simulation in seconds",
+    )
+    parser.add_argument(
+        "--timestep",
+        type=float,
+        default=0.01,
+        help="duration of a simulation timestep in seconds",
+    )
+    args = parser.parse_args()
+
+    pybullet.connect(pybullet.GUI)
+    pybullet.setGravity(0.0, 0.0, -9.81)
+    pybullet.setTimeStep(args.timestep)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 0)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SHADOWS, 0)
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
+    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
+    plane_id = pybullet.loadURDF("plane.urdf")
+
+    try:
+        robot = load_robot_description(args.name)
+    except ModuleNotFoundError:
+        robot = load_robot_description(f"{args.name}_description")
+
+    initial_position = [0.0, 0.0, 1.0]
+    initial_orientation = [0.0, 0.0, 0.0, 1.0]
+    pybullet.resetBasePositionAndOrientation(
+        robot, initial_position, initial_orientation
+    )
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RENDERING, 1)
+
+    for _ in range(int(args.duration / args.timestep)):
+        pybullet.stepSimulation()
+        time.sleep(args.timestep)
+
+    pybullet.disconnect()