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PR 3/10: URDF assets for new PyBullet environments #6

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Merged
yichao-liang merged 3 commits into from
Mar 25, 2026
Merged

PR 3/10: URDF assets for new PyBullet environments #6

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aea1f6d
Add URDF assets for new PyBullet environments
yichao-liang Mar 24, 2026
8683610
Add reusable skill factory framework for PyBullet environments
yichao-liang Mar 24, 2026
bfe8158
Merge pull request #7 from BasisResearch/pr/04-skill-factories
yichao-liang Mar 25, 2026
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1,347 changes: 1,347 additions & 0 deletions predicators/envs/assets/urdf/battery_box_snap.urdf
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1,566 changes: 1,566 additions & 0 deletions predicators/envs/assets/urdf/bulb_box_snap.urdf
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57 changes: 57 additions & 0 deletions predicators/envs/assets/urdf/c_battery.urdf
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<?xml version="1.0"?>
<robot name="c_battery">

<!-- Battery cylinder body -->
<link name="battery_body">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.018" length="0.05" />
</geometry>
<material name="battery_body_mat">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.018" length="0.05" />
</geometry>
</collision>
<inertial>
<mass value="0.05" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>

<!-- Positive terminal stem (protruding from top) -->
<link name="positive_terminal">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.004" length="0.004" />
</geometry>
<material name="terminal_mat">
<color rgba="0.7 0.5 0.3 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.004" length="0.004" />
</geometry>
</collision>
<inertial>
<mass value="0.001" />
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001" />
</inertial>
</link>

<!-- Fixed joint attaching positive terminal to battery body -->
<joint name="terminal_joint" type="fixed">
<parent link="battery_body"/>
<child link="positive_terminal"/>
<origin xyz="0 0 0.027" rpy="0 0 0"/>
</joint>

</robot>
293 changes: 293 additions & 0 deletions predicators/envs/assets/urdf/comm_vessel2.urdf
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<?xml version="1.0"?>
<robot name="communicating_vessels">
<link name="vessels_link">
<!-- container_0_bottom -->
<visual name="container_0_bottom_visual">
<origin xyz="0.05 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.01"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_bottom_collision">
<origin xyz="0.05 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.01"/>
</geometry>
</collision>
<!-- container_0_front_wall -->
<visual name="container_0_front_wall_visual">
<origin xyz="0.05 0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_front_wall_collision">
<origin xyz="0.05 0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
</collision>
<!-- container_0_back_wall -->
<visual name="container_0_back_wall_visual">
<origin xyz="0.05 -0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_back_wall_collision">
<origin xyz="0.05 -0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
</collision>
<!-- container_0_left_wall -->
<visual name="container_0_left_wall_visual">
<origin xyz="0.005 0.0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_left_wall_collision">
<origin xyz="0.005 0.0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.2"/>
</geometry>
</collision>
<!-- container_0_right_wall_with_hole_top -->
<visual name="container_0_right_wall_with_hole_top_visual">
<origin xyz="0.09500000000000001 0.0 0.125" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.15000000000000002"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_right_wall_with_hole_top_collision">
<origin xyz="0.09500000000000001 0.0 0.125" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.15000000000000002"/>
</geometry>
</collision>
<!-- container_0_right_wall_with_hole_leftband -->
<visual name="container_0_right_wall_with_hole_leftband_visual">
<origin xyz="0.09500000000000001 -0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_right_wall_with_hole_leftband_collision">
<origin xyz="0.09500000000000001 -0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
</collision>
<!-- container_0_right_wall_with_hole_rightband -->
<visual name="container_0_right_wall_with_hole_rightband_visual">
<origin xyz="0.09500000000000001 0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_0_right_wall_with_hole_rightband_collision">
<origin xyz="0.09500000000000001 0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
</collision>
<!-- tube_0_to_1_bottom -->
<visual name="tube_0_to_1_bottom_visual">
<origin xyz="0.25 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.05 0.01"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="tube_0_to_1_bottom_collision">
<origin xyz="0.25 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.05 0.01"/>
</geometry>
</collision>
<!-- tube_0_to_1_front -->
<visual name="tube_0_to_1_front_visual">
<origin xyz="0.25 0.030000000000000002 0.030000000000000002" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.01 0.060000000000000005"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="tube_0_to_1_front_collision">
<origin xyz="0.25 0.030000000000000002 0.030000000000000002" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.01 0.060000000000000005"/>
</geometry>
</collision>
<!-- tube_0_to_1_back -->
<visual name="tube_0_to_1_back_visual">
<origin xyz="0.25 -0.030000000000000002 0.030000000000000002" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.01 0.060000000000000005"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="tube_0_to_1_back_collision">
<origin xyz="0.25 -0.030000000000000002 0.030000000000000002" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.01 0.060000000000000005"/>
</geometry>
</collision>
<!-- tube_0_to_1_top -->
<visual name="tube_0_to_1_top_visual">
<origin xyz="0.25 0.0 0.055" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.05 0.01"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="tube_0_to_1_top_collision">
<origin xyz="0.25 0.0 0.055" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.05 0.01"/>
</geometry>
</collision>
<!-- container_1_bottom -->
<visual name="container_1_bottom_visual">
<origin xyz="0.45 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.01"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_bottom_collision">
<origin xyz="0.45 0.0 0.005" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.01"/>
</geometry>
</collision>
<!-- container_1_front_wall -->
<visual name="container_1_front_wall_visual">
<origin xyz="0.45 0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_front_wall_collision">
<origin xyz="0.45 0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
</collision>
<!-- container_1_back_wall -->
<visual name="container_1_back_wall_visual">
<origin xyz="0.45 -0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_back_wall_collision">
<origin xyz="0.45 -0.055 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.01 0.2"/>
</geometry>
</collision>
<!-- container_1_left_wall_with_hole_top -->
<visual name="container_1_left_wall_with_hole_top_visual">
<origin xyz="0.405 0.0 0.125" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.15000000000000002"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_left_wall_with_hole_top_collision">
<origin xyz="0.405 0.0 0.125" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.15000000000000002"/>
</geometry>
</collision>
<!-- container_1_left_wall_with_hole_leftband -->
<visual name="container_1_left_wall_with_hole_leftband_visual">
<origin xyz="0.405 -0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_left_wall_with_hole_leftband_collision">
<origin xyz="0.405 -0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
</collision>
<!-- container_1_left_wall_with_hole_rightband -->
<visual name="container_1_left_wall_with_hole_rightband_visual">
<origin xyz="0.405 0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_left_wall_with_hole_rightband_collision">
<origin xyz="0.405 0.037500000000000006 0.025" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.025 0.05"/>
</geometry>
</collision>
<!-- container_1_right_wall -->
<visual name="container_1_right_wall_visual">
<origin xyz="0.495 0.0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.2"/>
</geometry>
<material name="white">
<color rgba="1 1 1 0.5"/>
</material>
</visual>
<collision name="container_1_right_wall_collision">
<origin xyz="0.495 0.0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.1 0.2"/>
</geometry>
</collision>
</link>
</robot>
24 changes: 24 additions & 0 deletions predicators/envs/assets/urdf/cup.urdf
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<robot name="cup_model">
<link name="cup">
<inertial>
<mass value="0.2" />
<!-- center of mass (com) is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0.06" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<visual>
<!-- visual origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/cup.dae" scale=".1 .1 .1" />
</geometry>
</visual>
<collision>
<!-- collision origin is defined w.r.t. link local coordinate system -->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/cup.dae" scale=".1 .1 .1" />
</geometry>
</collision>
</link>
</robot>
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