Merge pull request #2535 from erwincoumans/master

Googley colors for xarm (debugging) and tweak example with table etc.…

examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf

@@ -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>

examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link6_vhacd.obj

@@ -0,0 +1,189 @@
+o convex_0
+v 0.033187 0.018503 -0.027247
+v -0.037691 -0.004112 -0.027247
+v -0.036680 -0.006625 -0.028254
+v 0.013576 -0.034758 0.000399
+v -0.012050 0.035092 0.000399
+v 0.001516 -0.051863 -0.020710
+v -0.035174 -0.014657 -0.000608
+v 0.037202 0.000916 0.000399
+v -0.009541 0.036598 -0.027749
+v 0.032685 -0.018178 -0.028254
+v 0.016093 0.034593 -0.000608
+v -0.032658 0.019510 -0.000608
+v -0.005016 -0.051863 -0.008652
+v -0.024620 -0.028233 -0.028254
+v 0.028153 -0.025719 -0.000608
+v -0.028642 0.025037 -0.027247
+v 0.013074 0.035092 -0.028254
+v 0.006542 -0.051863 -0.011667
+v -0.029646 -0.022706 0.000399
+v 0.028662 0.025046 -0.000608
+v 0.013576 -0.034758 -0.028254
+v 0.037711 -0.000091 -0.027749
+v -0.037691 0.004927 -0.000608
+v -0.034673 0.013984 -0.028254
+v 0.005029 0.037614 -0.000608
+v 0.036700 -0.009629 -0.000608
+v -0.031654 -0.021191 -0.027247
+v -0.007024 -0.051855 -0.014175
+v -0.022103 0.031072 -0.000608
+v -0.013054 -0.034767 0.000399
+v 0.022123 0.031072 -0.027247
+v 0.036700 0.009963 -0.000608
+v 0.028153 -0.025719 -0.027247
+v 0.001014 -0.051863 -0.007143
+v -0.014058 -0.034767 -0.028254
+v 0.005029 0.037614 -0.027247
+v -0.034171 0.014982 0.000399
+v 0.021119 0.030572 0.000399
+v -0.016073 0.034593 -0.027247
+v -0.028133 -0.025719 -0.000608
+v -0.008028 0.037098 -0.000608
+v 0.034692 -0.015664 -0.027247
+v 0.035194 0.012477 -0.028254
+v -0.005016 -0.051863 -0.019201
+v -0.036680 0.009955 -0.027247
+v 0.006542 -0.051863 -0.017193
+v -0.037691 -0.004112 -0.000608
+v 0.031674 -0.021191 -0.000608
+v -0.035174 -0.014657 -0.027247
+v -0.023616 0.029066 -0.028254
+v 0.033187 0.018503 -0.000608
+v 0.023636 -0.028732 0.000399
+v 0.028662 0.025046 -0.027247
+v 0.036700 0.009963 -0.027247
+v -0.005016 0.037614 -0.027247
+v 0.037711 0.004936 -0.000608
+v 0.037711 -0.004112 -0.027247
+v -0.032658 0.019510 -0.027247
+v -0.035676 0.012976 -0.000608
+v 0.022123 0.031072 -0.000608
+v -0.016073 0.034593 -0.000608
+v 0.020617 -0.031246 -0.028254
+v -0.028642 0.025037 -0.000608
+v 0.016093 0.034593 -0.027247
+f 36 11 64 
+f 5 4 8 
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examples/pybullet/gym/pybullet_envs/examples/xarm.py

@@ -7,7 +7,12 @@ p.setAdditionalSearchPath(pd.getDataPath())
 
 useFixedBase = True
 flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
-xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase)
+
+#plane_pos = [0,0,0]
+#plane = p.loadURDF("plane.urdf", plane_pos, flags = flags, useFixedBase=useFixedBase)
+table_pos = [0,0,-0.625]
+table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
+xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
 
 while (1):
 	p.stepSimulation()