more fixes in pybullet_envs: fix path, add missing data resources

examples/pybullet/gym/pybullet_envs/bullet/minitaurGymEnv.py

@@ -5,7 +5,7 @@ from gym.utils import seeding
 import numpy as np
 import time
 import pybullet as p
-import minitaur_new
+from . import minitaur_new
 
 class MinitaurGymEnv(gym.Env):
   metadata = {

examples/pybullet/gym/pybullet_envs/bullet/racecar.py

@@ -1,3 +1,4 @@
+import os
 import pybullet as p
 import numpy as np
 import copy
@@ -11,7 +12,7 @@ class Racecar:
     self.reset()
 
   def reset(self):
-    self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
+    self.racecarUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar.urdf"), [0,0,.2])
     self.maxForce = 20
     self.nMotors = 2
     self.motorizedwheels=[2]

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -1,3 +1,4 @@
+import os
 import math
 import gym
 from gym import spaces
@@ -48,8 +49,8 @@ class RacecarGymEnv(gym.Env):
     p.resetSimulation()
     #p.setPhysicsEngineParameter(numSolverIterations=300)
     p.setTimeStep(self._timeStep)
-    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    #p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
-    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
     #move the stadium objects slightly above 0
     for i in stadiumobjects:
     	pos,orn = p.getBasePositionAndOrientation(i)
@@ -63,7 +64,7 @@ class RacecarGymEnv(gym.Env):
     bally = dist * math.cos(ang)
     ballz = 1
     
-    self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
+    self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz])
     p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -1,3 +1,4 @@
+import os
 import math
 import gym
 from gym import spaces
@@ -50,8 +51,8 @@ class RacecarZEDGymEnv(gym.Env):
     p.resetSimulation()
     #p.setPhysicsEngineParameter(numSolverIterations=300)
     p.setTimeStep(self._timeStep)
-    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    #p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
-    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
     #move the stadium objects slightly above 0
     for i in stadiumobjects:
       pos,orn = p.getBasePositionAndOrientation(i)
@@ -65,7 +66,7 @@ class RacecarZEDGymEnv(gym.Env):
     bally = dist * math.cos(ang)
     ballz = 1
     
-    self._ballUniqueId = p.loadURDF("sphere2red.urdf",[ballx,bally,ballz])
+    self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2red.urdf"),[ballx,bally,ballz])
     p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py

@@ -1,3 +1,4 @@
+import os
 import pybullet as p
 import numpy as np
 import copy
@@ -18,7 +19,7 @@ class SimpleHumanoid:
   def reset(self):
     self.initial_z = None
    
-    objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+    objs = p.loadMJCF(os.path.join(os.path.dirname(__file__),"../data","mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
     self.human = objs[0]
     self.jdict = {}
     self.ordered_joints = []

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -1,3 +1,4 @@
+import os
 import math
 import gym
 from gym import spaces
@@ -47,7 +48,7 @@ class SimpleHumanoidGymEnv(gym.Env):
     p.resetSimulation()
     #p.setPhysicsEngineParameter(numSolverIterations=300)
     p.setTimeStep(self._timeStep)
-    p.loadURDF("%splane.urdf" % self._urdfRoot)
+    p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
     
     dist = 5 +2.*random.random()
     ang = 2.*3.1415925438*random.random()

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/chassis.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:50:44 2016 GMT</created>
+        <modified>Tue Jan 19 19:50:44 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
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+                    <technique_common>
+                        <accessor count="176" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="324">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.dae

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+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 15.3.331</authoring_tool>
+        </contributor>
+        <created>2016-03-10T00:21:04Z</created>
+        <modified>2016-03-10T00:21:04Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <instance_geometry url="#ID2">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID10">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
+        <geometry id="ID2">
+            <mesh>
+                <source id="ID5">
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+                    <technique_common>
+                        <accessor count="36" source="#ID8" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID6">
+                    <float_array id="ID9" count="108">0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1</float_array>
+                    <technique_common>
+                        <accessor count="36" source="#ID9" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID7">
+                    <input semantic="POSITION" source="#ID5" />
+                    <input semantic="NORMAL" source="#ID6" />
+                </vertices>
+                <triangles count="26" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID7" />
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+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID10">
+            <mesh>
+                <source id="ID11">
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+                    <technique_common>
+                        <accessor count="24" source="#ID14" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID12">
+                    <float_array id="ID15" count="72">-0.813885 0.4698967 0.3417431 -0.9397934 -3.08962e-016 0.3417431 -0.9113426 0.2441935 0.3313973 -0.813885 -0.4698967 0.3417431 -0.9113426 -0.2441935 0.3313973 -0.4698967 0.813885 0.3417431 -0.6671491 0.6671491 0.3313973 -0.6671491 -0.6671491 0.3313973 -0.4698967 -0.813885 0.3417431 -0.2441935 0.9113426 0.3313973 -1.737911e-016 0.9397934 0.3417431 -0.2441935 -0.9113426 0.3313973 2.317215e-016 -0.9397934 0.3417431 0.2441935 0.9113426 0.3313973 0.4698967 0.813885 0.3417431 0.2441935 -0.9113426 0.3313973 0.4698967 -0.813885 0.3417431 0.6671491 0.6671491 0.3313973 0.813885 0.4698967 0.3417431 0.6671491 -0.6671491 0.3313973 0.813885 -0.4698967 0.3417431 0.9113426 0.2441935 0.3313973 0.9397934 -2.896519e-016 0.3417431 0.9113426 -0.2441935 0.3313973</float_array>
+                    <technique_common>
+                        <accessor count="24" source="#ID15" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID13">
+                    <input semantic="POSITION" source="#ID11" />
+                    <input semantic="NORMAL" source="#ID12" />
+                </vertices>
+                <triangles count="12" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID13" />
+                    <p>0 1 2 1 3 4 5 0 6 7 3 8 9 10 5 11 8 12 13 14 10 15 12 16 17 18 14 19 16 20 18 21 22 22 23 20</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_materials>
+        <material id="ID3" name="material_1">
+            <instance_effect url="#ID4" />
+        </material>
+    </library_materials>
+    <library_effects>
+        <effect id="ID4">
+            <profile_COMMON>
+                <technique sid="COMMON">
+                    <lambert>
+                        <diffuse>
+                            <color>0.7529412 0.3764706 0.0627451 1</color>
+                        </diffuse>
+                    </lambert>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID1" />
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl material_1
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.602353 0.301176 0.050196
+Ks 0.500000 0.500000 0.500000
+Ni -1.000000
+d 1.000000
+illum 2

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.obj

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+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cone.mtl
+o SketchUp.001_ID10
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+vn 0.667100 0.667100 0.331400
+vn 0.667100 -0.667100 0.331400
+vn 0.911300 0.244200 0.331400
+vn 0.911300 -0.244200 0.331400
+usemtl material_1
+s 1
+f 1//1 2//1 3//1
+f 2//2 4//2 5//2
+f 6//3 1//3 7//3
+f 8//4 4//4 9//4
+f 10//5 11//5 6//5
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+f 18//9 19//9 15//9
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+f 23//12 24//12 21//12
+o SketchUp_ID2
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examples/pybullet/gym/pybullet_envs/data/racecar/meshes/hokuyo.dae

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0.1459009 0.185Line truncated
+          <technique_common>
+            <accessor source="#Mesh-mesh-normals-array" count="1139" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Mesh-mesh-vertices">
+          <input semantic="POSITION" source="#Mesh-mesh-positions"/>
+        </vertices>
+        <polylist material="black-material" count="937">
+          <input semantic="VERTEX" source="#Mesh-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 3 4 4 4 4 4 4 4 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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Line truncated
+        </polylist>
+        <polylist material="white_001-material" count="202">
+          <input semantic="VERTEX" source="#Mesh-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <translate sid="location">7.481132 -6.50764 5.343665</translate>
+        <rotate sid="rotationZ">0 0 1 46.69194</rotate>
+        <rotate sid="rotationY">0 1 0 0.619768</rotate>
+        <rotate sid="rotationX">1 0 0 63.5593</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <translate sid="location">4.076245 1.005454 5.903862</translate>
+        <rotate sid="rotationZ">0 0 1 106.9363</rotate>
+        <rotate sid="rotationY">0 1 0 3.163707</rotate>
+        <rotate sid="rotationX">1 0 0 37.26105</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Mesh_001" name="Mesh_001" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 90.00001</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Mesh-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="white_001-material" target="#white_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/hokuyo.mtl

@@ -0,0 +1,20 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl black-material
+Ns 21.568627
+Ka 0.000000 0.000000 0.000000
+Kd 0.016250 0.016250 0.016250
+Ks 0.125000 0.125000 0.125000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl white_001-material
+Ns -1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 0.556090 0.556090 0.556090
+Ks 0.031250 0.031250 0.031250
+Ni 1.000000
+d 1.000000
+illum 2

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:53:01 2016 GMT</created>
+        <modified>Tue Jan 19 19:53:01 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                    <technique_common>
+                        <accessor count="821" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="1632">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_front_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:53:28 2016 GMT</created>
+        <modified>Tue Jan 19 19:53:28 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
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+                    <technique_common>
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+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
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+                            <param name="Z" type="float"/>
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+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
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+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_rear_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/left_steering_hinge.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:38:01 2016 GMT</created>
+        <modified>Tue Jan 19 20:38:01 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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19 19 38 22 22 38 20 20 39 22 22 39 21 21 39 21 21 40 22 22 40 16 16 40 21 21 41 16 16 41 30 30 41 30 30 42 16 16 42 1087 1087 42 30 30 43 1087 1087 43 23 23 43 24 24 44 201 201 44 17 17 44 24 24 45 17 17 45 25 25 45 25 25 46 17 17 46 26 26 46 25 25 47 26 26 47 33 33 47 33 33 48 26 26 48 27 27 48 33 33 49 27 27 49 28 28 49 28 28 50 27 27 50 20 20 50 28 28 51 20 20 51 29 29 51 29 29 52 20 20 52 21 21 52 29 29 53 21 21 53 36 36 53 36 36 54 21 21 54 30 30 54 36 36 55 30 30 55 38 38 55 38 38 56 30 30 56 23 23 56 38 38 57 23 23 57 1086 1086 57 31 31 58 201 201 58 24 24 58 1118 1118 59 407 407 59 39 39 59 31 31 60 24 24 60 32 32 60 32 32 61 24 24 61 25 25 61 32 32 62 25 25 62 40 40 62 40 40 63 25 25 63 33 33 63 40 40 64 33 33 64 42 42 64 42 42 65 33 33 65 28 28 65 42 42 66 28 28 66 34 34 66 34 34 67 28 28 67 29 29 67 34 34 68 29 29 68 35 35 68 35 35 69 29 29 69 36 36 69 35 35 70 36 36 70 47 47 70 47 47 71 36 36 71 38 38 71 47 47 72 38 38 72 37 37 72 37 37 73 38 38 73 1086 1086 73 37 37 74 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54 54 109 45 45 109 46 46 109 54 54 110 46 46 110 64 64 110 64 64 111 46 46 111 48 48 111 64 64 112 48 48 112 66 66 112 66 66 113 48 48 113 1083 1083 113 66 66 114 1083 1083 114 55 55 114 69 69 115 201 201 115 56 56 115 1121 1121 116 376 376 116 1122 1122 116 69 69 117 56 56 117 73 73 117 73 73 118 56 56 118 50 50 118 73 73 119 50 50 119 57 57 119 57 57 120 50 50 120 58 58 120 57 57 121 58 58 121 60 60 121 60 60 122 58 58 122 59 59 122 60 60 123 59 59 123 76 76 123 76 76 124 59 59 124 61 61 124 76 76 125 61 61 125 77 77 125 77 77 126 61 61 126 53 53 126 77 77 127 53 53 127 62 62 127 62 62 128 53 53 128 63 63 128 62 62 129 63 63 129 79 79 129 79 79 130 63 63 130 54 54 130 79 79 131 54 54 131 81 81 131 81 81 132 54 54 132 64 64 132 81 81 133 64 64 133 65 65 133 65 65 134 64 64 134 66 66 134 65 65 135 66 66 135 67 67 135 67 67 136 66 66 136 55 55 136 67 67 137 55 55 137 68 68 137 72 72 138 201 201 138 69 69 138 1122 1122 139 70 70 139 71 71 139 72 72 140 69 69 140 86 86 140 86 86 141 69 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174 Line truncated
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/parking_1.dae

@@ -0,0 +1,310 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0</authoring_tool>
+    </contributor>
+    <created>2017-04-24T15:08:21</created>
+    <modified>2017-04-24T15:08:21</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0.64 0.03905561 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_004-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
+          <float_array id="Cube_003-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_001-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_002" name="Cube_002" type="NODE">
+        <matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 3.623344 0 0 0.15 0.1530263 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="Cube_002"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube"/>
+      </node>
+      <node id="Cube_001" name="Cube_001" type="NODE">
+        <matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
+      </node>
+      <node id="Cube_003" name="Cube_003" type="NODE">
+        <matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube_003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:36:00 2016 GMT</created>
+        <modified>Tue Jan 19 20:36:00 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                    <technique_common>
+                        <accessor count="874" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="1632">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_front_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:36:36 2016 GMT</created>
+        <modified>Tue Jan 19 20:36:36 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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+                    <technique_common>
+                        <accessor count="874" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                </vertices>
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+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_rear_wheel.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/right_steering_hinge.dae

@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:37:18 2016 GMT</created>
+        <modified>Tue Jan 19 20:37:18 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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92 Line truncated
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/meshes/walker_racecourse.dae

@@ -0,0 +1,506 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-07-27T16:34:38</created>
+    <modified>2016-07-27T16:34:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Walls-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.273904 0.1081182 0.02791987 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Road-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.01523832 0.01630333 0.01550063 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Floor-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Blue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
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+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
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+        </technique>
+      </profile_COMMON>
+    </effect>
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+        <technique sid="common">
+          <phong>
+            <emission>
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
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+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Walls-material" name="Walls">
+      <instance_effect url="#Walls-effect"/>
+    </material>
+    <material id="Road-material" name="Road">
+      <instance_effect url="#Road-effect"/>
+    </material>
+    <material id="Floor-material" name="Floor">
+      <instance_effect url="#Floor-effect"/>
+    </material>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+    <material id="Black-material" name="Black">
+      <instance_effect url="#Black-effect"/>
+    </material>
+    <material id="Blue-material" name="Blue">
+      <instance_effect url="#Blue-effect"/>
+    </material>
+    <material id="Yellow-material" name="Yellow">
+      <instance_effect url="#Yellow-effect"/>
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+    <material id="Red-material" name="Red">
+      <instance_effect url="#Red-effect"/>
+    </material>
+    <material id="Purple-material" name="Purple">
+      <instance_effect url="#Purple-effect"/>
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2260Line truncated
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983Line truncated
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94Line truncated
+        </polylist>
+        <polylist material="White-material" count="64">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1676 1685 9633 1652 1685 9634 1644 1685 9635 1659 0 9645 1642 0 9646 1619 0 9647 1671 0 9651 1645 0 9652 1635 0 9653 1655 1686 9654 1631 1686 9655 1612 1686 9656 1663 0 9663 1624 0 9664 1615 0 9665 1688 0 9666 1627 0 9667 1666 0 9668 1664 0 9672 1641 0 9673 1622 0 9674 1652 0 9681 1657 0 9682 1691 0 9683 1620 0 9684 1690 0 9685 1640 0 9686 1689 0 9693 1614 0 9694 1661 0 9695 1684 0 9699 1638 0 9700 1674 0 9701 1621 0 9702 1688 0 9703 1639 0 9704 1687 0 9711 1608 0 9712 1654 0 9713 1686 0 9717 1634 0 9718 1670 0 9719 1616 0 9720 1686 0 9721 1625 0 9722 1675 0 9723 1647 0 9724 1643 0 9725 1685 0 9729 1618 0 9730 1658 0 9731 1613 0 9738 1684 0 9739 1632 0 9740 1667 0 9741 1646 0 9742 1628 0 9743 1683 0 9747 1621 0 9748 1662 0 9749 1647 0 9762 1653 0 9763 1681 0 9764 1646 0 9771 1663 0 9772 1679 0 9773 1645 0 9780 1664 0 9781 1677 0 9782 1632 0 9783 1676 0 9784 1678 0 9785 1642 0 9786 1675 0 9787 1680 0 9788 1641 1686 9789 1665 1686 9790 1682 1686 9791 1636 0 9792 1683 0 9793 1648 0 9794 1638 0 9798 1685 0 9799 1649 0 9800 1637 0 9804 1687 0 9805 1650 0 9806 1629 0 9810 1689 0 9811 1651 0 9812 1690 0 9813 1637 0 9814 1673 0 9815 1625 0 9816 1669 0 9817 1692 0 9818 1676 1708 9954 1692 1708 9955 1652 1708 9956 1659 0 9966 1677 0 9967 1642 0 9968 1671 0 9972 1678 0 9973 1645 0 9974 1655 1708 9975 1679 1708 9976 1631 1708 9977 1663 0 9984 1681 0 9985 1624 0 9986 1688 0 9987 1650 0 9988 1627 0 9989 1664 0 9993 1691 0 9994 1641 0 9995 1652 0 10002 1633 0 10003 1657 0 10004 1620 0 10005 1668 0 10006 1690 0 10007 1689 0 10014 1630 0 10015 1614 0 10016 1684 0 10020 1648 0 10021 1638 0 10022 1621 0 10023 1673 0 10024 1688 0 10025 1687 0 10032 1623 0 10033 1608 0 10034 1686 0 10038 1649 0 10039 1634 0 10040 1616 0 10041 1674 0 10042 1686 0 10043 1675 0 10044 1682 0 10045 1647 0 10046 1685 0 10050 1639 0 10051 1618 0 10052 1613 0 10059 1672 0 10060 1684 0 10061 1667 0 10062 1680 0 10063 1646 0 10064 1683 0 10068 1640 0 10069 1621 0 10070 1647 0 10083 1626 0 10084 1653 0 10085 1646 0 10092 1643 0 10093 1663 0 10094 1645 0 10101 1644 0 10102 1664 0 10103 1632 0 10104 1616 0 10105 1676 0 10106 1642 0 10107 1622 0 10108 1675 0 10109 1641 1709 10110 1617 1709 10111 1665 1709 10112 1636 0 10113 1660 0 10114 1683 0 10115 1638 0 10119 1662 0 10120 1685 0 10121 1637 0 10125 1661 0 10126 1687 0 10127 1629 0 10131 1656 0 10132 1689 0 10133 1690 0 10134 1651 0 10135 1637 0 10136 1625 0 10137 1610 0 10138 1669 0 10139</p>
+        </polylist>
+        <polylist material="Black-material" count="64">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1692 0 9630 1633 0 9631 1652 0 9632 1680 0 9636 1643 0 9637 1646 0 9638 1678 0 9639 1644 0 9640 1645 0 9641 1660 0 9642 1640 0 9643 1683 0 9644 1677 0 9648 1622 0 9649 1642 0 9650 1682 0 9657 1626 0 9658 1647 0 9659 1662 0 9660 1639 0 9661 1685 0 9662 1673 0 9669 1650 0 9670 1688 0 9671 1616 1687 9675 1692 1687 9676 1676 1687 9677 1644 0 9678 1691 0 9679 1664 0 9680 1672 0 9687 1648 0 9688 1684 0 9689 1640 0 9690 1673 0 9691 1621 0 9692 1651 0 9696 1661 0 9697 1637 0 9698 1674 0 9705 1649 0 9706 1686 0 9707 1639 0 9708 1666 0 9709 1618 0 9710 1650 0 9714 1654 0 9715 1627 0 9716 1625 0 9726 1670 0 9727 1610 0 9728 1649 0 9732 1658 0 9733 1634 0 9734 1681 0 9735 1609 0 9736 1624 0 9737 1632 0 9744 1674 0 9745 1616 0 9746 1648 0 9750 1662 0 9751 1638 0 9752 1679 0 9753 1615 0 9754 1631 0 9755 1622 0 9756 1682 0 9757 1675 0 9758 1643 0 9759 1681 0 9760 1663 0 9761 1619 0 9765 1680 0 9766 1667 0 9767 1628 1688 9768 1679 1688 9769 1655 1688 9770 1613 0 9774 1678 0 9775 1671 0 9776 1635 0 9777 1677 0 9778 1659 0 9779 1656 0 9795 1630 0 9796 1689 0 9797 1661 0 9801 1623 0 9802 1687 0 9803 1691 1687 9807 1617 1687 9808 1641 1687 9809 1668 0 9819 1651 0 9820 1690 0 9821 1692 0 9951 1669 0 9952 1633 0 9953 1680 0 9957 1675 0 9958 1643 0 9959 1678 0 9960 1676 0 9961 1644 0 9962 1660 0 9963 1620 0 9964 1640 0 9965 1677 0 9969 1664 0 9970 1622 0 9971 1682 0 9978 1665 0 9979 1626 0 9980 1662 0 9981 1621 0 9982 1639 0 9983 1673 0 9990 1637 0 9991 1650 0 9992 1616 0 9996 1625 0 9997 1692 0 9998 1644 0 9999 1652 0 10000 1691 0 10001 1672 0 10008 1636 0 10009 1648 0 10010 1640 0 10011 1690 0 10012 1673 0 10013 1651 0 10017 1689 0 10018 1661 0 10019 1674 0 10026 1638 0 10027 1649 0 10028 1639 0 10029 1688 0 10030 1666 0 10031 1650 0 10035 1687 0 10036 1654 0 10037 1625 0 10047 1686 0 10048 1670 0 10049 1649 0 10053 1685 0 10054 1658 0 10055 1681 0 10056 1653 0 10057 1609 0 10058 1632 0 10065 1684 0 10066 1674 0 10067 1648 0 10071 1683 0 10072 1662 0 10073 1679 0 10074 1663 0 10075 1615 0 10076 1622 0 10077 1641 0 10078 1682 0 10079 1643 0 10080 1647 0 10081 1681 0 10082 1619 0 10086 1642 0 10087 1680 0 10088 1628 0 10089 1646 0 10090 1679 0 10091 1613 0 10095 1632 0 10096 1678 0 10097 1635 0 10098 1645 0 10099 1677 0 10100 1656 0 10116 1611 0 10117 1630 0 10118 1661 0 10122 1614 0 10123 1623 0 10124 1691 0 10128 1657 0 10129 1617 0 10130 1668 0 10140 1629 0 10141 1651 0 10142</p>
+        </polylist>
+        <polylist material="Blue-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1023 1182 6558 165 1182 6559 1025 1182 6560 1025 1183 6561 165 1183 6562 163 1183 6563 1027 1184 6564 1025 1184 6565 163 1184 6566 1027 1185 6567 163 1185 6568 161 1185 6569 1027 1186 6570 161 1186 6571 1029 1186 6572 1029 1187 6573 161 1187 6574 159 1187 6575 1029 1188 6576 159 1188 6577 1031 1188 6578 1031 1189 6579 159 1189 6580 157 1189 6581 1031 1190 6582 157 1190 6583 1033 1190 6584 1033 1191 6585 157 1191 6586 155 1191 6587</p>
+        </polylist>
+        <polylist material="Yellow-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1141 1085 6249 78 1085 6250 1140 1085 6251 1140 1086 6252 78 1086 6253 80 1086 6254 1140 1087 6255 80 1087 6256 1139 1087 6257 1139 1088 6258 80 1088 6259 82 1088 6260 1139 1089 6261 82 1089 6262 1138 1089 6263 1138 1090 6264 82 1090 6265 84 1090 6266 1138 1091 6267 84 1091 6268 1137 1091 6269 1137 1092 6270 84 1092 6271 86 1092 6272 86 1689 9822 1136 1689 9823 1137 1689 9824 86 1689 10143 88 1689 10144 1136 1689 10145</p>
+        </polylist>
+        <polylist material="Red-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1112 1106 6321 70 1106 6322 1110 1106 6323 1110 1107 6324 70 1107 6325 68 1107 6326 1110 1108 6327 68 1108 6328 1108 1108 6329 1108 1109 6330 68 1109 6331 66 1109 6332 1108 1110 6333 66 1110 6334 1106 1110 6335 1106 1111 6336 66 1111 6337 64 1111 6338 1106 1112 6339 64 1112 6340 1104 1112 6341 1104 1113 6342 64 1113 6343 26 1113 6344 1104 1114 6345 26 1114 6346 1102 1114 6347 1102 1115 6348 26 1115 6349 25 1115 6350</p>
+        </polylist>
+        <polylist material="Purple-material" count="8">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 </vcount>
+          <p>1078 1133 6405 42 1133 6406 1076 1133 6407 1076 1134 6408 42 1134 6409 41 1134 6410 1076 1135 6411 41 1135 6412 1074 1135 6413 1074 1136 6414 41 1136 6415 23 1136 6416 1072 1137 6417 23 1137 6418 22 1137 6419 1072 1138 6420 22 1138 6421 1070 1138 6422 1070 1139 6423 22 1139 6424 99 1139 6425 1072 1137 9825 1074 1137 9826 23 1137 9827</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="walker_track" name="walker_track" type="NODE">
+        <matrix sid="transform">0.001175366 0 0 -15 0 8.87376e-11 -0.001175366 18 0 0.001175366 8.87376e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#walker_track_001-mesh" name="walker_track">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Walls-material" target="#Walls-material"/>
+              <instance_material symbol="Road-material" target="#Road-material"/>
+              <instance_material symbol="Floor-material" target="#Floor-material"/>
+              <instance_material symbol="White-material" target="#White-material"/>
+              <instance_material symbol="Black-material" target="#Black-material"/>
+              <instance_material symbol="Blue-material" target="#Blue-material"/>
+              <instance_material symbol="Yellow-material" target="#Yellow-material"/>
+              <instance_material symbol="Red-material" target="#Red-material"/>
+              <instance_material symbol="Purple-material" target="#Purple-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

examples/pybullet/gym/pybullet_envs/data/racecar/racecar.urdf

@@ -0,0 +1,485 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from racecar.xacro                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- inertial parameter macros -->
+  <!-- geometry macros -->
+  <!-- transmission macros -->
+  <!-- Add chassis and it's inertia link -->
+  <link name="base_link"/>
+  <link name="chassis">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/chassis.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="base_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    <parent link="base_link"/>
+    <child link="chassis"/>
+  </joint>
+  <link name="chassis_inertia">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1477 0 0"/>
+      <mass value="4.0"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
+  <joint name="chassis_inertia_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="chassis"/>
+    <child link="chassis_inertia"/>
+  </joint>
+  <!-- Add the left rear wheel with its joints and tranmissions -->
+  <link name="left_rear_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      robot
+      
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_rear_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_rear_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_rear_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right rear wheel with its joints and tranmissions -->
+  <link name="right_rear_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rear_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_rear_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_rear_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_rear_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left steering hinge with its joints and tranmissions -->
+  <link name="left_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="left_steering_hinge_joint" type="revolute">
+    <origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right steering hinge with its joints and tranmissions -->
+  <link name="right_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="right_steering_hinge_joint" type="continuous">
+    <origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="left_front_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="left_steering_hinge"/>
+    <child link="left_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="right_front_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="right_steering_hinge"/>
+    <child link="right_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add Hokuyo laser scanner -->
+  <link name="laser">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.130"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hokuyo.obj"/>
+        <material name="grey"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hokuyo_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
+    <parent link="chassis"/>
+    <child link="laser"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- zed camera -->
+  <link name="zed_camera_link">
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <joint name="zed_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.390 0 0.04"/>
+    <parent link="chassis"/>
+    <child link="zed_camera_link"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
+  </joint>
+  <!-- zed camera lenses -->
+  <!-- It seems these have to have a non-zero mass to have a camera attached? -->
+  <link name="camera_link">
+    <!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <link name="zed_camera_right_link">
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="zed_camera_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="camera_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="zed_camera_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="zed_camera_right_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Add the remaining xacros -->
+  <!-- Gazebo references -->
+  <gazebo reference="chassis">
+    <mu1 value="0.0"/>
+    <mu2 value="0.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <gazebo reference="left_rear_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="right_rear_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="left_front_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="0 0 1"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="right_front_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="0 0 1"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <!-- Gazebo plugins -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/racecar</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <gazebo reference="laser">
+    <material>Gazebo/Grey</material>
+    <sensor name="hokuyo_sensor" type="ray">
+      <pose>0 0 0.0124 0 0 0</pose>
+      <visualize>true</visualize>
+      <update_rate>40</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1081</samples>
+            <resolution>1</resolution>
+            <min_angle>-2.3561944902</min_angle>
+            <max_angle>2.3561944902</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.1</min>
+          <max>10.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
+        <topicName>/scan</topicName>
+        <frameName>laser</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="camera_link">
+    <sensor name="zed_camera_left_sensor" type="camera">
+      <update_rate>30.0</update_rate>
+      <!-- math.atan(320 / 687.8065795898438) * 2 -->
+      <camera name="zed_camera_left_camera">
+        <horizontal_fov>0.8709216071359963</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>B8G8R8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>/camera/zed</cameraName>
+        <imageTopicName>rgb/image_rect_color</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <hackBaseline>0</hackBaseline>
+        <!-- set this to 0.12 for the second camera -->
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
+  <material name="black">
+    <color rgba="0. 0. 0. 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/racecar/racecar_differential.urdf

@@ -0,0 +1,743 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from racecar.xacro                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- inertial parameter macros -->
+  <!-- geometry macros -->
+  <!-- transmission macros -->
+  <!-- Add chassis and it's inertia link -->
+  
+  <link name="chassis">
+  	 <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.2 0 0."/>
+      <mass value="4.0"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
+  <!-- Add the left rear wheel with its joints and tranmissions -->
+  <link name="left_rear_wheel">
+    <contact>
+      <lateral_friction value=".5"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_wheel_joint" type="fixed">
+    <origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
+    <parent link="diff_sideA"/>
+    <child link="left_rear_wheel"/>
+  </joint>
+  
+  <!-- Add the right rear wheel with its joints and tranmissions -->
+  <link name="right_rear_wheel">
+<contact>
+      <lateral_friction value=".5"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rear_wheel_joint" type="fixed">
+    <origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
+    <parent link="diff_sideB"/>
+    <child link="right_rear_wheel"/>
+  </joint>
+  
+  <!-- Add the left steering hinge with its joints and tranmissions -->
+  <link name="left_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="left_steering_hinge_joint" type="revolute">
+    <origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right steering hinge with its joints and tranmissions -->
+  <link name="right_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="right_steering_hinge_joint" type="continuous">
+    <origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="left_front_wheel">
+<contact>
+      <lateral_friction value=".8"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="left_steering_hinge"/>
+    <child link="left_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="right_front_wheel">
+<contact>
+      <lateral_friction value="0.8"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="right_steering_hinge"/>
+    <child link="right_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add Hokuyo laser scanner -->
+  <link name="laser">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.130"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hokuyo.obj"/>
+        <material name="grey"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hokuyo_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
+    <parent link="chassis"/>
+    <child link="laser"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- zed camera -->
+  <link name="zed_camera_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <joint name="zed_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.390 0 0.04"/>
+    <parent link="chassis"/>
+    <child link="zed_camera_link"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
+  </joint>
+  <!-- zed camera lenses -->
+  <!-- It seems these have to have a non-zero mass to have a camera attached? -->
+  <link name="camera_link">
+    <!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <link name="zed_camera_right_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="zed_camera_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="camera_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="zed_camera_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="zed_camera_right_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Add the remaining xacros -->
+  <link name="diff_ring">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.0637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+     <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="diff_ring_chassis" type="continuous">
+    <parent link="chassis"/>
+    <child link="diff_ring"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0."/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <link name="diff_spiderA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderA"/>
+    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+ 
+ <link name="diff_spiderB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderB"/>
+    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+  
+  <link name="diff_sideA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideA"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff_sideB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideB"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff2_ring">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.0637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+     <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="diff2_ring_chassis" type="continuous">
+    <parent link="chassis"/>
+    <child link="diff2_ring"/>
+    <origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <link name="diff2_spiderA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_spiderA_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_spiderA"/>
+    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+ 
+ <link name="diff2_spiderB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+   
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_spiderB_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_spiderB"/>
+    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+  
+  <link name="diff2_sideA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_sideA_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_sideA"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff2_sideB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_sideB_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_sideB"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
+  <material name="black">
+    <color rgba="0. 0. 0. 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/sphere2.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red">
+        <color rgba="1 0.2 0.2 1"/>
+        <specular rgb="1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 1. 0.2 0.2
+Ks 0.8 0.8 0.8
+d 1
+illum 2

examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd checker_huge.gif