[wip] adding pybullet version of coffee environment

.gitignore

@@ -25,6 +25,9 @@ machines.txt
 tests/_fake_trajs
 tests/_fake_results
 sas_plan
+.vscode
+Gymnasium-Robotics/
+downward/
 
 # Jetbrains IDEs
 .idea/

predicators/envs/assets/urdf/cup.urdf

@@ -0,0 +1,24 @@
+<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>

predicators/envs/assets/urdf/kettle.urdf

@@ -0,0 +1,68 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f7b327fc497ad638490ad276cd2af3a4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_1">
+		<visual name="handle-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>

predicators/envs/assets/urdf/textured_objs/original-1.mtl

@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4196078431372549 0.3843137254901961 0.39215686274509803 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667