[robots] Add PR2 robot.

python/example_robot_data/robots_loader.py

@@ -558,6 +558,15 @@ class IrisLoader(RobotLoader):
     free_flyer = True
 
 
+class PR2Loader(RobotLoader):
+    path = "pr2_description"
+    urdf_filename = "pr2.urdf"
+    urdf_subpath = "urdf"
+    srdf_filename = "pr2.srdf"
+    free_flyer = True
+    ref_posture = "tuck_left_arm"
+
+
 ROBOTS = {
     "b1": B1Loader,
     "go1": Go1Loader,
@@ -593,6 +602,7 @@ ROBOTS = {
     "solo8": Solo8Loader,
     "solo12": Solo12Loader,
     "finger_edu": FingerEduLoader,
+    "pr2": PR2Loader,
     "talos": TalosLoader,
     "talos_box": TalosBoxLoader,
     "talos_arm": TalosArmLoader,

robots/pr2_description/meshes/base_v0/.gitignore

+convex
+iv

robots/pr2_description/meshes/forearm_v0/.gitignore

+convex
+iv

robots/pr2_description/meshes/gripper_v0/.gitignore

+convex
+iv

robots/pr2_description/meshes/head_v0/.gitignore

+convex
+iv