PyBullet/Drake Visualizer of the Worlds

[vacancy]

This issue tracks the development of a world visualizer of LISDF files. Yang has crafted a minimalist visualizer in her kitchen-worlds Maybe we can build on top of that?

There is one more thing that we can potentially do, which is to implement an official parser/loader for simulators. I am thinking of something like this:

import lisdf.simulators.pybullet as lisdf_bullet

lisdf, domain, problem, bullet_world = lisdf_bullet.load('kitchen.lisdf', 'domain.pddl', 'problem.pddl')

The last return value, bullet_world should contain information about the index of each model defined in kitchen.lisdf. For example, it should support functionalities such as:

bullet_world.get_link_by_name('pr2::left-gripper')  # returns 17 (i.e., the internal pybullet id for this link).

In the meanwhile, I think we want to keep this tool very simple and plain and light-weight. So users can borrow some code from us/built on top of our code to define their own data structures for storing these things.

I imagine this can be a handy tool for users. Some TODOs are:

[] support loading multiple objects
[] support GUI settings (currently just the camera pose)
[] support lisdf/State settings
[] support PDDL/State settings, which overrides the definitions in lisdf
[] support the "group" feature

Creating this issue to track the development.