add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)

add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/finger.mtl

@@ -0,0 +1,24 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 2
+
+newmtl Part__Feature001_006.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_007.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/hand.mtl

@@ -0,0 +1,56 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 5
+
+newmtl Part__Feature001_008_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_005_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature005_001_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature005_001_005_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_009_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link1.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 1
+
+newmtl Part__Feature_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.062500 0.062500 0.062500
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link2.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'link3.blend'
+# Material Count: 1
+
+newmtl Part__Feature024
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.125000 0.125000 0.125000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link3.mtl

@@ -0,0 +1,46 @@
+# Blender MTL File: 'link4.blend'
+# Material Count: 4
+
+newmtl Part__Feature001_010_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_007_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature003_004_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_001_001_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link4.mtl

@@ -0,0 +1,45 @@
+# Blender MTL File: 'link4.blend'
+# Material Count: 4
+
+newmtl Part__Feature001_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature002_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature003_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_002_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link5.mtl

@@ -0,0 +1,34 @@
+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl Part__Feature_002_004_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell001_001_001_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250000 0.250000 0.250000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell_001_001_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/link6.mtl

@@ -0,0 +1,177 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 17
+
+newmtl Face064_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face065_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 1.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face374_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face539_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature001_009_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+Ke 0.000000 0.000000 0.000000
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+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_006_001_002_001.001
+Ns -1.960784
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+illum 2
+map_Kd colors.png
+
+newmtl Shell002_002_001_002_001.001
+Ns -1.960784
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+newmtl Shell003_002_001_002_001.001
+Ns -1.960784
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+
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+Ns -1.960784
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+
+newmtl Shell005_001_001_002_001.001
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+Ns -1.960784
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+illum 2
+
+newmtl Shell007_002_002_001.001
+Ns -1.960784
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+
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+Ns -1.960784
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+
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examples/pybullet/gym/pybullet_data/franka_panda/meshes/visual/visualShapeBench.json_0.json

@@ -0,0 +1,269 @@
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