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Googley colors for xarm (debugging) and tweak example with table etc. Add missing link6_vhacd.obj

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This commit is contained in:
Erwin Coumans
2019-12-09 09:25:15 -08:00
parent 0a8ade5233
commit 1a491dc700
4 changed files with 221 additions and 8 deletions
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23
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
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@@ -27,7 +27,16 @@
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
@@ -41,7 +50,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
@@ -61,7 +70,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Red"/>
</visual>
<collision>
<geometry>
@@ -89,7 +98,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Yellow"/>
</visual>
<collision>
<geometry>
@@ -117,7 +126,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
@@ -145,7 +154,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Green"/>
</visual>
<collision>
<geometry>
@@ -173,7 +182,7 @@
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
<material name="Red"/>
</visual>
<collision>
<geometry>